Triple epicyclic differential transmission

Machine element or mechanism – Mechanical movements – Reciprocating or oscillating to or from alternating rotary

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7449004, 74665F, 901 21, F16H 2702

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active

061229814

ABSTRACT:
A triple epicyclic differential transmission for converting three parallel inputs to three orthogonal outputs. The triple epicyclic differential transmission includes three input shaft/pinion assemblies and a ring gear assembly which includes three ring gear pairs--each pair driven by an input shaft/pinion assembly in an epicyclic manner. An outer structure assembly is rotatably mounted to the ring gear assembly and an idle pulley assembly is pivotably mounted to the outer structure assembly. An output pulley assembly is rotatably mounted to the idle pulley assembly and driven by the ring gear assembly via the idle pulley assembly.

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William T. Townsend--The Effect of Transmission Design on Force-Controlled Manipulator Performance, Technical Report 1054, MIT Artificial Intelligence Laboratory.

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