FIELD: differential devices.
SUBSTANCE: amenable differential hinge of the manipulator with torque sensing contains a differential device with two differential gears, two differential wheels and one double gear installed in the housing, and the differential gears of which are equipped with elastic elements and angular position sensors installed between the elastic elements and the load. The double differential gear is movably installed in the housing, providing the second degree of freeness of the mechanism, and the differential gears are the input links of the mechanism, with the corresponding drives connected to them, while both differential wheels are equipped with angular position sensors relative to the differential housing, and the elastic elements in the differential gears provide a preliminary preload corresponding to the rotation of the differential wheel by at least one tooth.
EFFECT: improved dynamic performance of the hinge, elimination of mechanical free play.
3 cl, 3 dwg
| Title | Year | Author | Number |
|---|---|---|---|
| IN-CHAMBER MANIPULATOR | 2021 |
|
RU2785920C1 |
| PERCEPTIVE MANIPULATOR GRIPPER | 0 |
|
SU1134361A1 |
| ROBOTISED SURGICAL SYSTEM FOR MINIMAL INVASIONS | 2007 |
|
RU2412800C2 |
| MANIPULATOR | 0 |
|
SU334777A1 |
| MEDICAL ROBOTISED SYSTEM | 2007 |
|
RU2412799C2 |
| ELECTRIC DRIVE BASED ON RESILIENT ENGAGEMENT PLANETARY CYCLOIDAL REDUCTION GEAR | 2007 |
|
RU2358375C2 |
| AUTOMOTIVE WHEEL OR AXLE DRIVE DIFFERENTIAL MECHANISM | 2012 |
|
RU2520224C1 |
| DRIVE OF MONORAIL TRANSPORTATION MEANS | 0 |
|
SU1745585A1 |
| PLANET CYCLOIDAL REDUCTION GEAR | 2003 |
|
RU2251038C2 |
| MANIPULATOR ARM | 0 |
|
SU1117204A1 |
