An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

A planetary gear arrangement for carrying load including a sun gear configured to rotate about an axis of rotation of the planetary gear and defines an axial direction of the planetary gear, a plurality of planet gears driven by the sun gear, a ring gear engaged with the plurality of planet gears and a plurality of elliptical pins, each having a longitudinal axis and an outside contact surface, wherein the plurality of elliptical pins are arranged in the plurality of planet gears forming a convergent gap and a divergent gap therebetween, and wherein plurality of elliptical pins are configured to conform to elliptically deformed plurality of planet gears when subjected to the load and form an effective area therebetween to bear the load. An elliptical pin for supporting a gear and a gas turbine engine.

In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.

In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.

An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

An electrically actuated parking brake has a single electric motor producing a torque, a first torque limiting device with a first spring force, and a second torque limiting device with a second spring force. The first torque limiting device fully transmits a first portion of the torque to a first spindle until a first clamp force overcomes the first spring force and the second torque limiting device fully transmits a second portion of the torque to a second spindle until a second clamp force overcomes the second spring force. When the first clamp force overcomes the first spring force and the second spring force overcomes the second clamp force, the first portion of the torque that exceeds the first spring force is transmitted to the second spindle by the second torque limiting device.

An electrically actuated parking brake has a single electric motor producing a torque, a first torque limiting device with a first spring force, and a second torque limiting device with a second spring force. The first torque limiting device fully transmits a first portion of the torque to a first spindle until a first clamp force overcomes the first spring force and the second torque limiting device fully transmits a second portion of the torque to a second spindle until a second clamp force overcomes the second spring force. When the first clamp force overcomes the first spring force and the second spring force overcomes the second clamp force, the first portion of the torque that exceeds the first spring force is transmitted to the second spindle by the second torque limiting device.

In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.

In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.