Theoretical analysis of transmission error in rack and pinion systemsIbai Ulacia, Miryam B. Sánchez, Aurea Iñurritegui, Aitor Arana, Jon Larrañaga and José I. PedreroMATEC Web Conf., 387 (2023) 01001DOI: https://doi.org/10.1051/matecconf/202338701001