A joint device for a robot includes a first frame, a motor fixed to the first frame, a flange rotated by the motor, and a second frame fixed to the flange. The first frame has an opening extending from a part of a lateral portion to a predetermined part of a bottom portion. An outer rim portion of the flange faces to the opening in the predetermined part. The outer rim portion has through-holes. An end portion of the second frame adjacent to the first frame includes a facing portion that faces to the outer rim portion, and screw holes provided on the facing portion. The flange is fixed to the second frame such that screws inserted into the respective through-holes are fastened to the respective screw holes of the second frame.

A torque sensing device includes an idle wheel disposed between a force input shaft and a force output shaft, the idle wheel receives a tangential force from the force input shaft and the force output shaft to generate a counterforce as a loading, the center of the idle wheel is pivotally disposed on a positioning beam or a basis nearby, the positioning beam has a beam central line where a strain gauge installed. The positioning beam transforms the loading of the idle wheel along the beam central line to a normal force on the cross section of the positioning beam along the beam central line, the positioning beam generates a strain due to the normal force on the cross section of the positioning beam, the strain gauge detects the strain as the torsion sensing value of the output shaft on the region between the force input shaft and the force output shaft. A rotational driving tool is combined with the torque sensing device to improve the detecting precision of the torsion.

A power take-off (PTO) system for a motor vehicle includes a PTO housing. The PTO housing is mounted to a transmission case. A disconnect clutch assembly is positioned within the PTO housing acting when supplied with a first volume of a pressurized oil from the transmission case to engage an output shaft member. A controlled lube oil circuit is isolated from the first volume of the pressurized oil. The controlled lube oil circuit supplies a second volume of the pressurized oil directly to the disconnect clutch assembly to lubricate the disconnect clutch assembly. A lube oil drain return is connected to the PTO housing. The lube oil drain return receives oil that collects inside the PTO housing to be returned to the transmission case.

A power take-off (PTO) system for a motor vehicle includes a PTO housing. The PTO housing is mounted to a transmission case. A disconnect clutch assembly is positioned within the PTO housing acting when supplied with a first volume of a pressurized oil from the transmission case to engage an output shaft member. A controlled lube oil circuit is isolated from the first volume of the pressurized oil. The controlled lube oil circuit supplies a second volume of the pressurized oil directly to the disconnect clutch assembly to lubricate the disconnect clutch assembly. A lube oil drain return is connected to the PTO housing. The lube oil drain return receives oil that collects inside the PTO housing to be returned to the transmission case.

A universal drive including a ring gear, a sun gear in which a sun gear axis is moveable relative to a ring gear axis of the ring gear, a gear train constituted by a series of gears configured to connect the sun gear and the ring gear to each other, a link mechanism connected to the sun gear and the ring gear in the state in which relative rotation therebetween is allowed such that a power transmission state between the sun gear and the ring gear is continuously maintained while accommodating a change in the inter-axis distance between the sun gear and the ring gear, a carrier installed so as to support a rotating shaft of a final gear engaged with the ring gear, and a sliding member located between at least one of the gears and the carrier.

A power take-off (PTO) system for a motor vehicle includes a PTO housing. The PTO housing is mounted to a transmission case. A disconnect clutch assembly is positioned within the PTO housing acting when supplied with a first volume of a pressurized oil from the transmission case to engage an output shaft member. A controlled lube oil circuit is isolated from the first volume of the pressurized oil. The controlled lube oil circuit supplies a second volume of the pressurized oil directly to the disconnect clutch assembly to lubricate the disconnect clutch assembly. A lube oil drain return is connected to the PTO housing. The lube oil drain return receives oil that collects inside the PTO housing to be returned to the transmission case.

A power take-off (PTO) system for a motor vehicle includes a PTO housing. The PTO housing is mounted to a transmission case. A disconnect clutch assembly is positioned within the PTO housing acting when supplied with a first volume of a pressurized oil from the transmission case to engage an output shaft member. A controlled lube oil circuit is isolated from the first volume of the pressurized oil. The controlled lube oil circuit supplies a second volume of the pressurized oil directly to the disconnect clutch assembly to lubricate the disconnect clutch assembly. A lube oil drain return is connected to the PTO housing. The lube oil drain return receives oil that collects inside the PTO housing to be returned to the transmission case.

A compact clutch which comprises a driven shaft on which the following are mounted: a gear wheel; a driving bush; a driven bush; a coil spring; a first collar with cam surfaces; and a second collar with cam surfaces. The clutch is characterized in that the gear wheel and the bushes are constrained to the driven shaft in the axial direction by means of two stop rings; in that the driven bush is constrained to the driven shaft in the circumferential direction by means of at least one tongue; and in that the tongue ensures engagement between the driven bush and the driven shaft in the circumferential direction, while in the axial direction the driven bush may slide with respect to the driven shaft.

A compact clutch which comprises a driven shaft on which the following are mounted: a gear wheel; a driving bush; a driven bush; a coil spring; a first collar with cam surfaces; and a second collar with cam surfaces. The clutch is characterized in that the gear wheel and the bushes are constrained to the driven shaft in the axial direction by means of two stop rings; in that the driven bush is constrained to the driven shaft in the circumferential direction by means of at least one tongue; and in that the tongue ensures engagement between the driven bush and the driven shaft in the circumferential direction, while in the axial direction the driven bush may slide with respect to the driven shaft.

A modular actuator may include a modular actuator base assembly and a modular control assembly. Each of the modular actuator base assembly and the modular control assembly may be selected from a plurality of different modular actuator base assemblies, and a plurality of different modular control assemblies in order to provide an appropriate functionality for a particular application. One or more of the modular actuator base assembly and the modular controller assembly may be field-replaceable, in order to provide additional functionality to an installed modular actuator.