MOVABLE LINK DRIVE Russian patent published in 1994 - IPC

FIELD: mechanical engineering. SUBSTANCE: in the course of shaft rotation of electric motor 2 eccentric shaft and toothed satellites 7 and 8 start rotating and in their turn impart rotary motion through gear rim 9 to hollow screw 10 of ball-and-screw drive. Displacement of nut 11 of ball-and-screw drive results in rotation of movable link 1 of manipulator. Preliminary twisting of torsion bars by means of preliminary twisting device 16 provides for taking up backlash in planetary gear. EFFECT: improved accuracy of positioning link due to elimination of backlash in kinematic train of drive. 1 dwg