in 1663,Robert hook invented the universal joint.
In 1683, the double hooke universal joint was born.
In 1824, jean victor poncelet used spherical trigonometry and differential calculus to help analyze the motion of the hook joint and calculate the force on the cross axis.
In 1841, Robert Willis completed a complete and scientific analysis of the kinematics of the twin hooke joint.
In 1894, Carl Bach calculated the surface stress of the cross shaft.
From 1901 to 1902, Arthur hardt and Robert schwenke applied for patent for automobile universal joint (DRP136605, double hooke universal joint for automobile steering wheel).
In 1904, the hooke type universal joint drive shaft formed a series of products.
William A Whitney's first spherical gimbal was born in 1908.
In 1918, the uniform transmission conditions were met, and in 1930, the geometric proof of the convex universal joint was obtained.
In 1923, it was found that the steering center of the fixed spherical universal joint did not coincide with its own turning center (the middle point of the universal joint).
In 1926, Pierre fenaille's "uniform" cardan was born.
In 1927, Alfred (Alfred h rzeppa) of six goals stationary gimbal hinged Angle 45 °, with six goals in 1934 began producing offset control. Now the automobile drive shaft outside the ball cage from this.
In 1928, Clarence windfred spicer first used needle bearing on the journal of the cross shaft of hooke's universal joint. Richard bussien invented the bipedal joint.
In 1933, Bernard k stuber developed spherical gimbal joints with offset raceways.
In 1938, Robert suczek invented the telescopic ball universal joint based on the offset principle.
Spherical universal joints for Birfield elliptical raceways, 1946. Mass production began in 1959.
In 1960, three-pivot universal joint was invented by michel orain, and circular raceway fixed universal joint was developed by loebro.
Henri faure developed a four-ball telescopic universal joint with a pair of intersecting raceways in 1961.
1962 the loebro VL universal joint with intersecting raceways was born.
1965 on Birfield universal joint with parallel raceway offset ball cage. Gaston devos invented the do-retractable universal joint. Now the car drive shaft trident inside the ball cage from this.
After 2000, Japan NTN and Germany GKN began to develop eight-ball ball cage.
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The future transmission system will develop toward the integration direction, the hub bearing and the ball cage integration.