Abstract: In a multiple-step gear drive there are two stationary toothed wheels, comprising a driving wheel and a driven wheel. Their spacing and positions remain constant as the housing that supports gear trains is rotated. For each gear step or position there is a gear train. Each train comprising one or several gear-wheels and in engagement with each other, all these gear-wheels being rotatably jounalled in a housing. The housing is movable substantially parallel to a plane running perpendicular to the shafts of the stationary toothed wheels, to be brought into a specific engagement position for each gear step in which the gear train is in engagement with both stationary toothed wheels. The housing and gear wheels are thus arranged so that in at least one gear step the housing can be disengaged from its engaged position in two substantially opposite directions, thus moving the corresponding gear train in the selected direction and thereby breaking the driving connection between the two stationary toothed wheels.

Abstract: The present invention relates to a robot comprising a positioning head (7) which is moved to the desired position with the aid of setting devices (1) which can be lengthened or shortened. Each setting device (1) is secured via a first joint (4) in a fixed frame (5), enabling each setting device (1) to pivot freely in relation to the frame. Each setting device (1) is attached via a second joint (6) to the movable positioning head (7). An arm (8) extending from the positioning head (7) is located between the setting devices and extends through the central opening of a universal joint (11) supported by the frame (5). The arm is movable in axial direction in relation to the joint and is controlled thereby in radial direction. It can also be set at different angles to the frame (5).