| CPC F16H 1/26 (2013.01) [F16H 55/06 (2013.01); F16H 55/17 (2013.01); F16H 2055/176 (2013.01)] | 16 Claims |

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1. A self-aligning gear, comprising:
a toothed ring gear having a plurality of inner gear teeth alternating with a plurality of inner grooves on an inner circumference and a plurality of outer gear teeth located on an outer circumference;
a spline gear having an outer circumference comprising a plurality of spline teeth alternating with a plurality of spline grooves, wherein the spline teeth are configured to fit in the inner grooves of the toothed ring gear when the spline gear is assembled to the toothed ring gear; and
a curved-faces pin assembly which includes a cylindrical pin having semicircular ends and a pattern of an elastomeric material which conforms to a shape of the spline grooves and the inner grooves.
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