FIELD: mechanical engineering. SUBSTANCE: toothed rims interacting with each other are positioned on driving and driven members of manipulator. Carriers are mounted on axles of driving and driven members. Roller coupled to driving system of manipulator by flexible tie-rod is installed on driving member axle for free turning. In addition, auxiliary rollers embraced by closed circular flexible tie-rod are positioned on axles of driving and driven members. Flexible tie-rod is fixed to driven member and roller coupled to driving system of manipulator. EFFECT: enhanced rigidity, enlarged gear ratio. 3 dwg
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