ACTUATING BODY Russian patent published in 2022 - IPC B25J13/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics, namely to a structure of drives providing the movement of an actuating body in space. The drive actuating body contains coils with a flexible tape wound up on them, engines, the rotation of which provides movement of the flexible tape between coils with changing their outer diameters, a rod fixed with two bearings and a guide, and pins located perpendicular to the rod on both sides from coils. One of pins contains a roller, and the other one contains a spring-loaded roller. In this case, the rod is made with the possibility of movement with pins due to changing the winding diameter.

EFFECT: invention provides for reduced overall indicators and increased radial rigidity.

1 cl, 3 dwg