Embodiments relate to robotic arm assemblies. Robotic arm assembly includes an arm segment and end-effector assembly. Arm segment includes an elongated body which forms an arm segment central axis. End-effector assembly is securable to the arm segment. End-effector assembly includes an instrument assembly and first gear assembly. Instrument assembly includes an instrument and instrument gear. Instrument forms an instrument central axis. Instrument is for performing an action. Proximal end of instrument is secured to the instrument gear. First gear assembly includes a first primary gear and protrusion portion. First primary gear includes a second central axis formed through the first primary gear. Second central axis intersects with first central axis, instrument central axis, and arm segment central axis. Protrusion portion is secured to the first primary gear, and includes an opening. A portion of the proximal end of the instrument is provided in the opening and rotatable within the opening.

Embodiments relate to robotic arm assemblies. Robotic arm assembly includes an arm segment and end-effector assembly. Arm segment includes an elongated body which forms an arm segment central axis. End-effector assembly is securable to the arm segment. End-effector assembly includes an instrument assembly and first gear assembly. Instrument assembly includes an instrument and instrument gear. Instrument forms an instrument central axis. Instrument is for performing an action. Proximal end of instrument is secured to the instrument gear. First gear assembly includes a first primary gear and protrusion portion. First primary gear includes a second central axis formed through the first primary gear. Second central axis intersects with first central axis, instrument central axis, and arm segment central axis. Protrusion portion is secured to the first primary gear, and includes an opening. A portion of the proximal end of the instrument is provided in the opening and rotatable within the opening.

Example embodiments relate generally to robotic arm assemblies. The robotic arm assembly may include an arm segment and an end-effector assembly. The arm segment may include an elongated body, a first motor, and a second motor. The end-effector assembly may be securable to the arm segment. The end-effector assembly may include an instrument assembly, a first gear assembly, and a second gear assembly. The instrument assembly may include an instrument and an instrument gear. The first gear assembly may include a first primary gear and a protrusion portion. The protrusion portion may be configurable to drive the instrument assembly. The second gear assembly may include a second primary gear configurable to drive the instrument gear.

Example embodiments relate generally to robotic arm assemblies. The robotic arm assembly may include an arm segment and an end-effector assembly. The arm segment may include an elongated body, a first motor, and a second motor. The end-effector assembly may be securable to the arm segment. The end-effector assembly may include an instrument assembly, a first gear assembly, and a second gear assembly. The instrument assembly may include an instrument and an instrument gear. The first gear assembly may include a first primary gear and a protrusion portion. The protrusion portion may be configurable to drive the instrument assembly. The second gear assembly may include a second primary gear configurable to drive the instrument gear.

An example braking system is described including a support structure which is pivotable about a first axis and a braking mechanism including a gear engagement mechanism which is fixed with respect to the first axis. The gear engagement mechanism may have a first and a second toothed portion, a first gear wheel rotatable about a second axis, and a second gear wheel rotatable about a third axis. The first gear may be connected to a first damping mechanism to damp pivoting of the support structure in a first direction when the first gear wheel is engaged with the first toothed portion. The second gear wheel may be connected to a second damping mechanism to damp pivoting of the support structure in a second direction when the second gear wheel is engaged with the second toothed portion. A print target holder system and a printer system are also described.

An example braking system is described including a support structure which is pivotable about a first axis and a braking mechanism including a gear engagement mechanism which is fixed with respect to the first axis. The gear engagement mechanism may have a first and a second toothed portion, a first gear wheel rotatable about a second axis, and a second gear wheel rotatable about a third axis. The first gear may be connected to a first damping mechanism to damp pivoting of the support structure in a first direction when the first gear wheel is engaged with the first toothed portion. The second gear wheel may be connected to a second damping mechanism to damp pivoting of the support structure in a second direction when the second gear wheel is engaged with the second toothed portion. A print target holder system and a printer system are also described.

A transmission speed control system for a walk-behind lawn mower includes a transmission, a transmission positioning assembly, and an electronic control unit. The transmission is tiltable about and operably engaged with a drive axle shaft. The transmission positioning assembly tilts the transmission between first and second angular positions. A belt tension between a drive belt and a transmission pulley of the transmission continuously increases from a minimum belt tension when the transmission is in the first angular position to a maximum belt tension when the transmission is in the second angular position. The rotational drive force exerted on the drive axle shaft by the transmission and a resulting driving speed of the lawn mower vary proportionally with the belt tension. The electronic control unit controls the transmission positioning assembly to tilt the transmission based on target and detected driving speeds.

A transmission speed control system for a walk-behind lawn mower includes a transmission, a transmission positioning assembly, and an electronic control unit. The transmission is tiltable about and operably engaged with a drive axle shaft. The transmission positioning assembly tilts the transmission between first and second angular positions. A belt tension between a drive belt and a transmission pulley of the transmission continuously increases from a minimum belt tension when the transmission is in the first angular position to a maximum belt tension when the transmission is in the second angular position. The rotational drive force exerted on the drive axle shaft by the transmission and a resulting driving speed of the lawn mower vary proportionally with the belt tension. The electronic control unit controls the transmission positioning assembly to tilt the transmission based on target and detected driving speeds.

A gearbox assembly for an electric power assisted steering apparatus comprises a gearbox housing which houses a worm shaft and a gear wheel, the worm shaft being supported relative to the housing by a main bearing at an end closest to the motor and by a tail bearing at an end furthest from the motor, and the gear wheel being supported by an output shaft having at least one end that provides a take-off from the gearbox assembly, in which the main bearing and tail bearing are free to move relative to the housing through a limited range of motion that enables the worm shaft to pivot away from the wheel gear facilitated by tilting of the main bearing about a pivot that is fixed relative to the housing, characterised in that the gearbox assembly is arranged such that the pivot reacts the axial component of the worm shaft tooth load that arises when a gearwheel torque is applied to the gearwheel in a first direction but not in a second, opposing, direction, and in that a tensioning device is provided that reacts the axial component of the worm shaft tooth load that arises when a gearwheel torque is applied to the gearwheel in the second direction but not in the first direction.

A gearbox assembly for an electric power assisted steering apparatus comprises a gearbox housing which houses a worm shaft and a gear wheel, the worm shaft being supported relative to the housing by a main bearing at an end closest to the motor and by a tail bearing at an end furthest from the motor, and the gear wheel being supported by an output shaft having at least one end that provides a take-off from the gearbox assembly, in which the main bearing and tail bearing are free to move relative to the housing through a limited range of motion that enables the worm shaft to pivot away from the wheel gear facilitated by tilting of the main bearing about a pivot that is fixed relative to the housing, characterised in that the gearbox assembly is arranged such that the pivot reacts the axial component of the worm shaft tooth load that arises when a gearwheel torque is applied to the gearwheel in a first direction but not in a second, opposing, direction, and in that a tensioning device is provided that reacts the axial component of the worm shaft tooth load that arises when a gearwheel torque is applied to the gearwheel in the second direction but not in the first direction.