“…As mechanisms used to generate variable motion laws, in comparison with cams, linkages, variable transmission belts, Geneva mechanisms and even electrical servomotors, non-circular gears are remarkable due to their advantages, such as the ability to produce variable speed movements in a simple, compact and reliable way, the lack of gross separation or decoupling between elements, fewer parts in the design phase, and the ability to produce high strength-toweight ratios [2][3][4].…”