Abstract: The submarine working equipment illustrated which may be a diver's auxiliary equipment includes a hollow body that is specially reinforced against bending moments and pressure forces acting upon it by means of structure defining flow channels, for driving elements, that angularly penetrate it and by means of pressure chambers supported in the body which are adapted to multiple uses. The equipment is held and supplied with power by a connecting and supply cable. A main grab on the forward end of the body is adjustable to facilitate clamping on a wide range of diameters the clamping of the equipment on pipes, wracks, etc. so firmly that the equipment itself or working arms mounted thereon (tool arms, auxiliary grabs, platforms etc.) are capable of taking substantial working loads despite the small dimensions of the equipment.

Abstract: One embodiment of a harmonic-drive device insertable, e.g., into a clutch housing having elevated fluid pressures comprises a cup-shaped member with a flexible cylindrical inserted in a casing and rigidly connected thereto, the cup member bearing at its end a pair of substantially cylindrical supports in which a drive shaft is rotatably journaled. The shaft bears a mechanical wave generator which deforms the middle portion of the cup wall into an elliptical cross-section, whereby splines on opposite sides of the cup wall are shifted to mesh with inwardly projecting teeth of a pair of rings, one ring having teeth greater in number than the splines and being attached to a motion-output component rotatably and slidably secured to the cup casing. The supports in the cup are tapered to a minimum diameter at their inner ends substantially equal to the minor axis of the elliptical cross-section.

Abstract: One embodiment of a harmonic-drive device insertable, e.g., into a clutch housing having elevated fluid pressures comprises a cup-shaped member with a flexible cylindrical inserted in a casting and rigidly connected thereto, the cup member bearing at its end a pair of substantially cylindrical supports in which a drive shaft is rotatably journaled. The shaft bears a mechanical wave generator which deforms the middle portion of the cup wall into an elliptical cross-section, whereby splines on opposites sides of the cup wall are shifted to mesh with inwardly projecting teeth of a pair of rings, one ring having teeth greater in number than the splines and being attached to a motion-output component rotatably and slidably secured to the cup casing. The supports in the cup are tapered to a minimum diameter at their inner ends substantially equal to the minor axis of the elliptical cross-section.