Abstract: A rotation control mechanism for controlling of unrolling of the curling strip rolled on a drum is disclosed, which includes an escapement gear wheel fixed at the drum rotation axis, an anchor, and an electromagnet. The anchor is pivotably mounted at a distance closer to the gear wheel than the distance between the first anchor arm and the second anchor arm so that the arms alternately come into contact with the gear wheel. The rotation of the gear wheel causes swinging motion of the anchor striking the gear wheel alternately with the first anchor arm and second anchor arm reducing the rotation speed. A clamp is connected to the anchor so that turning the electromagnet on enforces movement of the clamp, pressing the first arm of the anchor against the gear wheel. A return spring connected to the anchor counteracts the force exerted on the anchor by the electromagnet via the clamp, the spring tension force being less than the electromagnet force.

Abstract: The object of the invention is an electromagnetic drive comprising a core composed of at least two partially open sections. Each section partially surrounds the winding and is being closed by a closing element moveably connected to the core. This element is arranged so that in conditions of no current flow through the winding the core is partially not closed. The closing elements are arranged outside of the core and the winding and are connected to each other by a separating element made of material having lower magnetic permeability. The object of the invention is also a winding core composed of at least two partially open sections arranged along the axis of the core, characterized in that the openings of the core's sections are located in its substantially outer portion. Preferably, the core has axial symmetry and is equipped with a groove between sections adapted to accommodate the wire connecting the windings.

Abstract: A clamp mechanism is disclosed, clamping on a tube made of elastic material, provided with a band clamped on a tube. Inside the tube, in the location where the band clamps, a stiff element is located having a diameter substantially corresponding to the inner diameter of the tube. The band encompasses the tube over the length of at least the half of its circumference and is connected to a tensioning and releasing apparatus. A locking system for a manipulator is also provided including tubes substantially parallel to each other. Each tube is formed of curling strip wound on a drum rigidly connected to a structure. The manipulator has at least one reconfigurable parameter. The system includes a mechanism that is mounted on each one of tubes. Further, a method of operating a reconfigurable manipulator is disclosed including curled strip tubes, wherein the manipulator is provided with a locking system, which is released for reconfiguration of the manipulator and clamped for normal operation.