Abstract: An electrically-driven thrust generator is provided, which can contribute energy saving, and has properties (thrust controllability, swift action etc.) equivalent to hydraulic cylinders and contributes to solve problems (leakage etc.) associated with oil pipings. The electrically-driven thrust generator comprises a motor 3, a variable reduction ratio speed reducers 5, a rotary motion to linear motion converting mechanism 7, a thrust rod 121 linearly driven by this rotary motion to linear motion converting mechanism 7. The present invention is characterized in that the rotary motion to linear motion converting mechanism 7 comprises an oscillating crank plate driven rack mechanism, which provides a compact and powerful electrically-driven thrust generator equivalent to hydraulic thrust generator.

Abstract: A magnetic gear configuration utilizing non-metallic magnetic material about a circumference of a rotatable member is disclosed. A plurality of magnetic units may be spaced around the circumference of the rotatable member. Each magnetic unit may extend along a direction substantially parallel to the central axis of the rotatable member and each magnetic unit may be inversely aligned to its adjacent magnetic unit. The magnetic units may be equidistantly spaced from one another and each magnetic unit contains a north and south pole. Gear train configurations may be constructed by utilizing gears having similarly spaced magnetic units where inversely aligned magnetic units attract one another to facilitate gear rotation.

Abstract: In a cup-shaped flexing contact gear (1), both a rigid internal gear (2) and a flexible external gear (3) are made to be non-profile-shifted spur gears, an opening (3a) of the flexible external gear (3) is set in a state of negative deviation wherein a deflection of the opening is lower in value than a normal deflection; a moving locus is obtained through rack approximation of teeth of the external gear to the internal gear at respective sections of rotation of tooth trace of the flexible external gear (3), an envelope (e) is obtained by overlapping the moving locus on one of sections of rotation, another moving locus is obtained in a section of rotation at the end portion of tooth trace on the side of a diaphragm or in the vicinity of the outside of the end portion and is smoothly connected to the envelope to thereby obtain a composite curve (L).

Abstract: In a flexing contact type gear drive (1), the respective tooth profiles of the internal gear (2) and external gear (3) are constructed such that the tooth face portion is formed of a straight line AM disposed in the vicinity of a datum point, a first convex circular arc (AB) smoothly connected thereto and a second convex circular arc (BC) smoothly connected to the first convex circular arc and having a radius of curvature larger than the first convex circular arc, while, the dedendum portion excluding the root is created by a standard rack consisting of a tooth profile formed by a curve point-symmetrical with respect to the datum point to the tooth profile at the tooth face or a curve obtained by correcting the above curve.

Abstract: The present invention comprises an extended tooth contact harmonic drive gearing apparatus for transmitting rotary motion from an input drive to an output drive through mating contact between a flexspline and a rigid circular spline, the flexspline being swept into a non-circular shape by a wave generator. The wave generator causes the teeth of the flexspline to precess from a normal to an inclined orientation and back to a normal orientation again. The teeth on both the flexspline and the circular spline have a profile which accomodates that tooth inclination, and thus avoids interference therebetween.

Abstract: An internally meshing planetary gear structure or a flexible meshing type gear meshing structure is intended to achieve the lightening, miniaturization and high load capacity by increasing the meshing points of the gear even is the difference in the teeth number between the external gear and the internal gear is two or more. The difference in the teeth number between each of the external gears and the internal gear is set to be N (N: integer being two or more), the tooth profile of the external gear is constructed on the basis of the innermost curve of the epitrochoid parallel curves in N pieces which are superposed to be shifted in phase from each other, and the tooth profile of the internal gear is constructed on the basis of the innermost curve of the trochoid internally enveloping curves in N pieces which mesh with the above epitrochoid parallel curves and which are superposed to be shifted from each other by the same phase as in the external gear.

Abstract: The present disclosure concerns an actuator for converting rotary movement into linear movement. The actuator comprises a prime mover turning a reduction gear assembly which, in turn, drives a mechanical transmission including a linearly moving control element. To achieve precise movement of the control element to a desired position, and to ensure the desired position is retained as exactly as possible, a reduction gear assembly which is self-locking with respect to the maximum back-driving torque exerted on the reduction gear assembly by the mechanical transmission, is combined with a low friction, non-self-locking mechanical transmission. Preferably, the reduction gear assembly is implemented in the form of a strain wave reduction gear set and the mechanical transmission element is implemented in the form of a cooperating ballscrew and ballnut.

Abstract: A wave gear drive having a wave generator whose exterior configuration is formed using a shape defined by a tangential polar coordinate equation having at least four Fourier expansion terms, whereby the amount of flexing of the flexible external gear can be maintained at a prescribed magnitude while simultaneously reducing the magnitude of the tooth rim bending stress of the external gear, and the meshing entry gap of the teeth can be enlarged, thus eliminating the danger of tooth interference. The wave gear drive exhibits high load capacity and excellent gear meshing performance.

Abstract: A cup-type harmonic gear drive comprises a rigid circular spline, a cup-shaped flexspline disposed inside the circular spline and a wave generator means fitted inside the flexspline for flexing the flexspline into elliptic to engage it with the circular spline and for rotating the engagement portions to thereby produce relative rotation between the splines. The flexspline has a tube, a disc-shaped diaphragm connected integrally to the end of said tube to define the cup bottom, and a thick boss formed on the center of the diaphragm. The diaphragm has a root portion from the boss, a thickness of which is set at least about three times the minimum thickness of the diaphragm. The outer profile of the diaphragm is defined, when viewed along a plane including the axis of the flexspline, by a plurality of curves having a different curvature. These curves are arranged from one having a larger curvature from the root protion to the tube portion of the diaphragm.

Abstract: An articulated robot arm or the like comprising a base, an upper arm which is pivotally secured to the base at a shoulder joint, a lower arm pivotally secured to the upper arm at an elbow joint, and optionally a "hand" or tool support pivotally secured to the lower arm at a wrist joint. A parallelogram linkage controls the relative position of the upper arm, lower arm, and base. The linkage has first, second, third, and fourth links joined by pivots. The first link is a crank which is pivotally connected to the base by a first pivot which is coaxial with the shoulder pivot. The second link of the parallelogram linkage is parallel to the crank link, and is fixed with respect to the lower arm. The third and fourth links join the first and second links to complete the parallelogram. At least one of the third and fourth links is fixed to the upper arm.

Abstract: A compact phasing transmission having an infinitely variable adjustment to the relative phases between the input shaft and output shaft of the transmission is disclosed. A harmonic drive pancake gear set is incorporated between the input shaft and output shaft of the transmission. A pancake motor is enclosed within the phase transmission and is coupled to the harmonic drive pancake gear set to provide input to the wave generator of the harmonic drive. The intermeshing of the pancake motor and harmonic drive between the input shaft and output shaft of the phasing transmission will cause the two shafts to rotate at the same speed. When the pancake motor is activated, the wave generator of the harmonic drive gear set will rotate thereby varying the phases between the input shaft and output shaft of the phasing transmission.

Abstract: A worm-like drive mechanism has a plurality of axially-spaced eccentrics rotated by an input shaft located at right angles to an output shaft. A wheel mounted on the output shaft has a circumferential surface with periodic undulations. Oscillators in the form of rollers mounted on pins and captured in respective slots of a fixed carrier are reciprocated through contact with the external surfaces of the eccentrics to cause the undulated surfaces of the wheel to move, thereby driving the output shaft. Contact between the rollers and the eccentrics is achieved through the intermediary of bars which are reciprocated with the rollers.

Abstract: A rotational transmission reducer having plane waving gear mechanism comprises at least a reducer unit of an input member, an output member, and a plane flexible member which lays between the input member and the output member. The reducer unit may be coaxially piled to be a multistage reducer. A typical example is a transmission of a clock or a watch, which can simplify a conventional mechanism and lower the manufacturing cost. The reducer unit functions by some salient portions on the input member pushing the flexible member, to engage a part of a ring gear furnished on the flexible member with another ring gear furnished on the output member. The output member is rotated by differential pitches of aforesaid two ring gears. For a clock or watch transmission, the ring gear on the output member is an independent member joined frictionally with a substance of the output member so that they can be slid relatively for time adjustment.

Abstract: A pneumatic stepper motor weight actuator captures the advantages of polymeric harmonic gears while occupying less space and eliminating the problems associated with air entrapment in the stator grooves. Air entrapment is eliminated by providing orificed air passages from the bottom of the longitudinal stator grooves to the center stator hole. Advantageously, the actuator includes a rigid gear comprising a toothed polymeric sleeve adhesively bonded inside a metal cup.

Abstract: This invention relates to an articulated robot comprising at least two control arms (4), (7), and two speed reducers provided at articulated portions of the two control arms (4), (7) on the same axis in opposed relation to each other. The two speed reducers comprises first and second harmonic drive speed reducers which include a common circular spline (60) fixedly secured to the articulated portion of one of the control arms (4), (7), and a bracket (40), (50) mounted on one end of the common circular spline (60) for angular movement relative to the common circular spline (60) and connected to the articulated portion of the control arm (4), (7). The number of component parts can be reduced, the assembling operation can be facilitated, a stable high accuracy can be maintained, and an inexpensive articulated robot can be obtained.

Abstract: A wrist mechanism for an industrial robot of the type wherein wrist elements make rocking, rocking and revolving motions successively from the driving side to the driven side, which is reduced in quantity of motion transmitting parts and is small in size and light in weight but high in rigidity. The wrist mechanism comprises reduction gears provided at end portions on the joint side of driving side wrist elements which are individually provided in pair and cooperate with driven side wrist elements to constitute wrist joints to be operated by the reduction gears.

Abstract: In a harmonic drive arrangement wherein two relatively rotatable members are provided with oppositely arranged gear structures of different numbers of teeth such that the gear structures define therebetween wedge cavities of circumferentially varying cross sections, engagement balls are disposed in the wedge cavities and a biasing structure extends around the gear structure so as to be adapted to bias the balls sequentially inwardly into said wedge cavities and release them outwardly thereby causing relative motion of the two rotatable members.

Abstract: A boring apparatus wherein the size in the axial direction of the shaft of the manual handle horizontally supported can be made small-sized. A clutch is composed of spherical bodies, a cylindrical body having formed therein hole portions for receiving the spherical bodies, spherical body pressing means for pressing the spherical bodies to the outside or inside of the cylindrical body, and an engagement member having recessed portions engaging with the spherical bodies which are projected to the outside or inside of the cylindrical body, and the boring apparatus is constructed by using the clutch.

Abstract: This invention relates to a gear assembly comprising two parallel dual strain wave gears. The moment transmission ability of the gear assembly is relatively high, if the gears are interconnected and they have a common flexspline (2) both ends of which are provided with a dual strain wave gear in such a manner that teeth (3a, 3b) on the outer surface of the flexspline are in meshing engagement with peripheral teeth (4a, 4a) on a first gear member and teeth (5a, 5b) on the inner surface of the flexspline (2) are in meshing engagement with shaft teeth (6a, 6b) on a second gear member. A ring (7) positioned between the teeth serves as a wave generator from which the torsional moment is transmitted into the flexspline through a bearing (8) and either one of the interconnected teeth in meshing engagement with the flexspline teeth may serve as a secondary shaft while the other remains receiving the difference between the secondary and the primary moment.

Abstract: A continuously variable, regenerative transmission is disclosed in which a continuously variable transmission assembly is employed in conjunction with a regenerative gear assembly incorporating high and low clutches and situated intermediate a prime mover, such as a vehicle engine, and an output, such as the drive train to vehicle wheels.

Abstract: A strain wave gearing comprising a circular spline, flexspline inside the circular spline, a wave generator for deforming the flexspline into, for example, an ellipsoid and a motor for rotating the wave generator to produce a relative rotation between the flexspline and the circular spline. The strain wave gearing is sometimes termed a harmonic drive transmission, and there is a type of gearing called flat-shaped strain wave gearing which is composed of two circular splines juxtaposed with each other, a flexspline in the circular splines having the same number of teeth as the first circular spline, a wave generator for deforming the flexspline into an ellipsoid and a motor for rotating the wave generator. In the flat-shaped gearing, each tooth of the flexspline is provided with a convex tooth face and a concave tooth flank.

Abstract: A planetary drive containing two gear wheels with differing numbers of teeth and a radially flexible planetary wheel in engagement with these gear wheels. The planetary wheel has internal teeth and external teeth and is arranged at least partially in an annular gap between a hollow wheel and a sun wheel. The planetary wheel is forced by a cam element into the gaps between the teeth of the gear wheels in engagement zones. There are four engagement zones distributed around the circumference of the planetary wheel in which the teeth of the planetary wheel engage either the hollow wheel or the sun wheel. A roller bearing is provided between the cam element and the planetary wheel. The drive has a short axial structural length and a low manufacturing cost, assures uniform loading of the gear teeth, and enables the reduction ratio to be selectively predetermined throughout a large range.

Abstract: A drive and locking system enables a rotor (2) to be turned between two end portions which are rotationally displaced in relation to one another through a present angle, and allows the rotor to be locked in an end position. Corresponding to the end positions are end stops (1a, 1b) against which the drive urges the rotor (2). In this position movable levers (12), which are disposed between two parts and fixed to one of them, can be released. The levers (12) are provided with teeth (11) which then engage in recesses in the rotor (2). The still-effective drive moment of the drive system then entrains the part (13), to which the levers (12) are not fixed, in a direction opposite to the rotational direction of the rotor. The levers (12) are then guided from the position in which they link both parts by passing over sloping surfaces, and the levers (12) are then brought into a locking position of the rotor (2) and of the part (14) which is provided with the levers (12).

Abstract: An electro-mechanical device for accurately retarding or advancing the timing or rotational phase relationship of machine components, such as a pair of shafts, either while the components are in motion or stationary. The device embodies a motor controlled cycloidal gear reducer operable to generate a rotational differential or relative movement between a pair of rotatable gears. Each shaft is coupled to one of the gears for movement therewith. The stator of the motor rotates with one of the gears and the rotor thereof, when energized, rotates relative to the stator and drives a generator for effecting differential rotation of the two gears and thus the two machine components.

Abstract: A drive transmission structure for a tractor comprising a propeller shaft extending between and interconnecting an output shaft of an engine disposed forwardly of a driver's section and an input shaft of a transmission disposed rearwardly of the driver's section. The engine is disposed at a rearwardly downward slant with the output shaft thereof extending toward the input shaft of the transmission. The transmission is disposed at a forwardly upward slant with the input shaft thereof extending toward the engine output shaft.

Abstract: A strain wave gearing device comprising a ring gear having internal axially extending teeth and a strain gear produced from a strain gear blank having constant thickness to the cylindrical and diaphragm portions. The cylindrical portion has external axially extending teeth extending around an annular portion adjacent the open end of the strain gear for engaging with the internal teeth of the ring gear (the number of external teeth on the strain gear being different than the number of internal teeth on the ring gear) and a wave generator is located within and matingly engages with the strain gear. The diaphragm portion is reduced in final thickness from the uniform blank thickness to about one-half the blank thickness by machining, after the strain gear has been produced from the blank. The wave generator adapted to be rotatively driven relative to the strain gear whereby relative rotational movement will occur between the strain and ring gears.

Abstract: A power seat recliner mechanism particularly adapted for motor vehicle applications. The recliner mechanism includes an electric drive motor meshing with a series of reduction gears. Rotation of the drive motor causes the reclined position of the seat back cushion. Forward and rearward reclining movement of the seat back is provided through reversing the direction of rotation of the drive motor. For enhanced structural characteristics, the drive motor is affixed to the lower recliner structure at both its axial ends. A rotationally compliant drive shaft for the motor can be used to absorb shock loads acting through the drive system.

Abstract: A robot arm drive apparatus of an industrial robot comprising: an electric motor having a drive shaft; a first robot member having the electric motor mounted thereon; a second robot member rotatably supported on the first robot member; and reduction gears for reducing rotation of the electric motor and then transmitting to the second robot member; the reduction gears comprising a planetary reduction gear and furthermore an additional reduction gear which is purposely provided so that the number of rotations of the electric motor, at which the resonance of a drive system comprising the electric motor, the second robot member and the reduction gear means occurs, is shifted from a predetermined operational region of the electric motor.

Abstract: A gear shift device for motor vehicles in which a fluid pressure production unit is arranged between a gear shift mechanism and a damper device and is connected directly with a drive input member. In the damper device for the gear shift device, the gear shift mechanism is connected through a first output member to the drive input member. The fluid pressure production unit is simultaneously connected to the input member through a second output member. Therefore, the torsional rigidity of the damper device can be set small enough to restrain the neutral noise associated with gear shift devices.

Abstract: A harmonic drive apparatus comprises a circular spline which has internal spline teeth and which is rotatable around a rotational axis, a flexible cylindrical flexspline which is concentrically disposed within the circular spline and which has external spline teeth, the number of flexspline external teeth being less than the number of internal teeth of the circular spline, a wave generator disposed within the flexspline for flexing the flexspline in the radial direction thereof so as to locally engage the flexspline external teeth with the internal teeth of the circular spline, and a multi-row ball bearing flexible in the radial direction thereof which has balls equally spaced along the circumferential direction of the wave generator and which is disposed between the wave generator and the flexspline, the balls being disposed in a plurality of circumferential lines which are separated from one another along the axial direction of the wave generator, the balls in each circumferential line being disposed betwee

Abstract: A rotary/linear actuator of the type having power driven rotary balls adapted to impose a strain wave on a flexible sleeve for purposes of flexing screw threads carried by the sleeve radially into engagement with threads carried by an outer sleeve for purposes of effecting axial displacements of the outer sleeve relative to the flexible sleeve, employs an improved flexible sleeve permitting essentially uniform radial deflection of its screw threads in a direction extending lengthwise thereof. The actuator includes an improved motor mounting arrangement and alternative touch controlled potentiometer constructions. An alternative actuator construction is disclosed, wherein the flexible sleeve is formed as an integral part of an inner sleeve of the actuator.

Abstract: A cartoner having a main drive and elements such as transport lugs, product bucket elements that are adjustable to accommodate different sizes of cartons. The disclosure is directed to automatic means for varying the positions of those elements automatically using the power of the main drive to accomplish the adjustment.

Abstract: An articulated robot joint includes a coupling member 13 having a hollow cylinder 13a rigidly mounted to a lower arm 2 and rotatably journaled to an upper arm 1. An offset crank 13c extends from one end of the cylinder, and has a mounting hub 13d at the end of a radial arm thereof coupled to an axially disposed output shaft of a motor and harmonic drive unit 5, 6. A power/control cable 3 is threaded through the hollow interiors of the arms, and traverses the joint via the hollow cylinder.

Abstract: There is disclosed a rotary/linear actuator, wherein a power driver rotary component imposes a strain wave upon a flexible sleeve member, which is flexed into screw engagement with a rotationally fixed member for purposes of imparting linear movement to the sleeve member. The extent of linear movement of the sleeve member is preferably controlled by a rotational limit control device associated with the rotary component.

Abstract: A tooth profile in a meshing mechanism is arranged in such a way that the tooth profile of a deflectable tooth row is formed by a circular-arc-shaped addendum and lines tangential to the circular arc, while the tooth profile of two second tooth rows meshing with the tooth row with that tooth profile, one of the second tooth rows being fixed and the other being moveable, are based on an envelope of the locus of movement of the circular-arc-shaped addendum, or a line approximated thereto by circular arcs and straight lines. In the meshing mechanism having this tooth profile, the deflectable tooth row and the two tooth rows mesh with each other over a wide region and a low level of angular backlash can be obtained thereby. For this reason, the contact pressure on the working surfaces of the teeth can be alleviated, and the lifetime of the teeth can be prolonged.

Abstract: There is disclosed a rotary/linear actuator, wherein a flexible sleeve member having a screw thread on its outer surface is arranged to surround a rotary component and a drive motor therefor; the rotary component resiliently deforming the screw thread of the sleeve member outwardly into engagement with an internally threaded outer sleeve member for purposes of imparting linear movement to the sleeve member incident to driven rotations of the rotary component. The actuator incorporates a potentiometer for producing a signal indicative of the position of the sleeve member.

Abstract: A nutating gear positraction differential composed of two cam operated nutating gear sets, wherein the axles or shafts are connected to the cams of their respective gear sets; the cam operated gear sets transmit motion only from the cams to the gears and not in reverse. This forces the gear sets to lock up as soon as one cam loses its load.

Abstract: A harmonic speed changer mechanism includes a circular spline having an outer surface formed with a gear, a flexible spline having an outer surface formed with a gear whose number of teeth is larger than that of the circular spline and arranged outside the circular spline and a wave generator having an inner wall defining an ellipsoidal cross section and arranged outside the flexible spline. The flexible spline is deformed by the ellipse defined by the inner wall of the wave generator so that the gear of the flexible spline meshes with the circular spline gear, partially. A space is provided along an axis of the harmonic speed changer, which is enough to receive various external components necessary for a utilization device to which the harmonic speed changer is applied.

Abstract: A compact system for converting a rotational movement, of relatively low torque, into an accurate linear movement, of relatively high force. The system includes a low torque actuator and a backlash-free gear reducer. A linearly movable shaft, capable of exerting a high linear force in either direction, has a long axis in direct line with the long axis of the actuator. A direct linkage, essentially free of backlash, connects the actuator to the shaft through the gear reducer. A body and housing enclose the system.

Abstract: A wide scan drive mechanism for use in a vacuum, e.g. in space, comprising a motor assembly (20) associated with a gearing device (10) which comprises a drive system via triangular teeth sliding over one another, wherein the various ball bearings and triangular teeth of the gearing device are subjected to dry lubrication treatment.

Abstract: A strain wave gearing comprising a circular spline, flexspline disposed inside the circular spline, a wave generator for deforming the flexspline into, for example, an ellipsoid and a motor for rotating the wave generator to produce a relative rotation between the flexspline and the circular spline. The strain wave gearing is sometimes termed a harmonic drive transmission. In the strain wave gearing, the tooth face of each of the splines is formed in line with a mapping curve which is a similarity transformation having a reduced scale of 1/2 applied to a movement locus of the flexspline to the circular spline in accordance with the configuration of the wave generator, the transformation being effected on a reference point where the splines are transferred from the contact condition to a disengagement from each other. Thus, the teeth of the flexspline engage with those of the circular spline in the broad extent of the engagement region.

Abstract: A strain wave gearing device comprising a ring gear having internal axially extending teeth and a strain gear produced from a strain gear blank having constant thickness to the cylindrical and diaphragm portions. The cylindrical portion has external axially extending teeth extending around an annular portion adjacent the open end of the strain gear for engaging with the internal teeth of the ring gear (the number of external teeth on the strain gear being different than the number of internal teeth on the ring gear) and a wave generator is located within and matingly engages with the strain gear. The wave generator adapted to be rotatively driven relative to the strain gear whereby relative rotational movement will occur between the strain and ring gears.

Abstract: The present invention relates to the wrist device of a robot which has a speed reducers built in a wrist portion and which attains three degrees of rotating freedom orthogonal to one another, and is characterized in that three transmission shafts penetrating through the interior of an arm are arranged in parallel with one another as power transmission means within the arm.

Abstract: The momemtum compensated actuator in this invention directly torques the compensating inertia relative to the pointed structure with the harmonic drive used to insure the rotational rate ratio between the compensating inertia and pointed structure is constant at all times. Improvements to the actuator are:1. a harmonic drive wave generator shaft coupling that is torsionally very stiff with no backlash about the wave generator rotational axis, but is compliant to small wave generator motions orthogonal to the rotational axis due to harmonic drive ring gear-flexspline tooth mesh errors;2. a shaft link between the pointed structure and the base vehicle with a threaded means to compressional preload all the rotational structure support ball bearings;3. a means to provide a rotational bias rate to the actuator rotational reference structure assuring that during pointing each rotating structure support ball bearing race has a different rotational rate eliminating non linear stiction friction effects.

Abstract: A robot joint has a support carrying a rotary robot arm. An electric drive motor is mounted on the support and its drive shaft is coupled to the robot arm by harmonic drive-type reduction gears. The reduction gears include an elastically deformable, externally toothed ring whose elliptical shape is rotated by the drive shaft. The externally toothed ring itself is stationary and is firmly connected to the support by a flexible sleeve provided at its free end with a rigid mounting flange. The annular mounting face of the flange and the opposite mounting face on the support is each provided with radial teeth, preferably in the form of Hirth-type gears, which guarantee an accurate centering of the sleeve and safeguard the same against turning. Preferably, the flange is fastened to the end face of a steel bushing which is pressed into a bore in the support and secured against turning by knurled serrations.

Abstract: A wave generator for a strain wave gearing device is provided wherein variant size balls are retained by a ball separator located between inner and outer ball races. A multiple number of balls on each diametrically opposed sides have the largest diameter with the balls decreasing in size away from these balls.

Abstract: A head assembly for a manipulator has a rear segment rotatable about an inner axis fixed relative to the manipulator and extending through the rear segment, an intermediate segment supported on the rear segment for rotation about an intermediate axis defined by the rear segment and intersecting the inner axis at an acute intermediate angle open away from the rear segment, and a front segment having a holder adapted to carry a tool and suppported on the intermediate segment for rotation about an outer axis fixed relative to the intermediate segment, extending through the front segment, and intersecting the intermediate axis at an acute outer angle open away from the intermediate segment. A drive rotates the intermediate and outer segments on the inner and intermediate segments about the respective intermediate and outer axes.

Abstract: An apparatus for cyclically actuating an actuation member comprises a hollow shaft rotatable about an axis of rotation and defining therein a cam opening therethrough, an inner shaft rotatably carried within the hollow shaft, a cam member fixed to the hollow shaft adjacent the cam opening, a cam member fixed to the inner shaft and projecting through the cam opening of the hollow shaft, a variable transmission having a reference element connected to one of the shafts and an output element connected to the other of the shafts, and an input element; a pulley wheel connected to the shafts for rotating same about the axis, and an electric motor connected to the input element of the variable transmission for rotating same, the electric motor being controlled by an electronic control unit which can include one or more microprocessor units.

Abstract: Mechanical rotary drive, preferably a gear reduction drive, particularly for industrial robots, for example a manipulator arm rotary drive, comprising a driving side and a power take-off side, a drive shaft, and at least two gears, preferably reduction gears, situated on the drive shaft and biased against one another, the gear biasing at the driving side being executed via a torsionally stiff coupling and the gear biasing at the power take-off side being executed via a torsionally elastic coupling.

Abstract: An intermittent drive mechanism includes a pair of non-circular drive and driven gears for translating a constant velocity rotary motion of an input shaft into a non-uniform velocity rotary motion of an intermediate shaft, the latter-mentioned rotary motion having a sinusoidal angular speed pattern, and a harmonic speed reducer drivingly connecting the intermediate shaft to an output shaft which is connected to a flexible spline of the speed reduce. A rigid circular spline of the speed reducer is angularly reciprocated under the control of an eccentric cam on the input shaft in such a manner that the motion of the sinusoidal angular speed pattern is transmitted from the intermediate shaft to the output shaft in a certain decelerated condition only while the intermediate shaft turns through a half of each turn. The motion transmission takes place gently without causing undesired shock at the beginning and the end of the motion.