I'm learning about how dog clutches work particularly in sequential transmissions.
I'm having a hard time understanding the principle which ensures dogs will always mesh correctly. I can easily imagine a situation in which dogs will collide and switching gears will not work such as when the speed of the input shaft matches the speed of the intermediary shaft and dogs are aligned together or when the engine is off and the vehicle is not moving then dogs can again collide.
I'm designing my own clutch-less transmission using dog gears, because I thought they are most appropriate, so I'm trying to understand the principle, not so much the example cases I mentioned above.