Impossible Gears

(Video Link)

In the above video, Clayton Boyer shows how oddly-shaped gears can function smoothly. Okay, the square gears shouldn't be a surprise. But then he moves on to ovals, then fish, and then things that look like Rorschach inkblots.

via Gizmodo | Official Website

Previously by Clayton Boyer: Create Your Own Amazing Wooden Clock

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Of course if I'd watched this video too it would all have been so incredibly simple...

I'm even more in awe now that I know how to make the weird gears.
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Is there some kind of scientific theory for devising these gears? I got as far as thinking that each one has to have a negative 'map' of the teeth on a connecting gear, but then you have the overall shape of the thing and... I would have no idea where to start. Great stuff to watch.
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