The present system for fall restraint includes a mounting frame connected to a trigger mechanism and firing blocks, with a trigger cable extending through apertures in the mounting frame and trigger mechanism. Sudden movement by a user, such as a fall, actuates the trigger mechanism to trigger the firing blocks. The firing blocks are loaded with anchors and firing cartridges. Triggering the firing blocks causes the cartridges to fire, propelling the anchors into an anchoring surface, such as a roof. Because the user is connected to the trigger cable, once the anchors deploy the user is anchored to the roof and their fall arrested.

A parallel link mechanism includes a proximal end member and three or more link mechanisms. Three or more link mechanisms connect the proximal end member to a distal end member. In three or more link mechanisms, a first center axis of a first revolute pair unit and a second center axis of a second revolute pair unit intersect at a spherical link center point. Fifth center axes of respective fifth revolute pair units of three or more link mechanisms overlap each other and intersect with the spherical link center point.

A control system (10) for controlling the pitch of a propeller (50), the system comprising a propeller shaft (60), a blade swivel device (20) having a rotary control element (22) suitable for placing the blades (52) in an angular position corresponding to a desired propeller pitch, and a transmission (12) presenting an outlet member coupled in rotation with the rotary control element (22) of the blade swivel device (20).

The transmission (12) includes a variable speed drive (70) having drive, control, and outlet rotors that are coupled in rotation respectively with the propeller shaft (60), with a control member, and with the outlet member of the transmission.

By means of the variable speed drive (70), the speed of rotation of the outlet member of the transmission is a predetermined function of the speeds of rotation not only of the propeller shaft, but also of the control member.

A control system (10) for controlling the pitch of a propeller (50), the system comprising a propeller shaft (60), a blade swivel device (20) having a rotary control element (22) suitable for placing the blades (52) in an angular position corresponding to a desired propeller pitch, and a transmission (12) presenting an outlet member coupled in rotation with the rotary control element (22) of the blade swivel device (20).

The transmission (12) includes a variable speed drive (70) having drive, control, and outlet rotors that are coupled in rotation respectively with the propeller shaft (60), with a control member, and with the outlet member of the transmission.

By means of the variable speed drive (70), the speed of rotation of the outlet member of the transmission is a predetermined function of the speeds of rotation not only of the propeller shaft, but also of the control member.

A link actuating device includes input side and output side link hubs, and two sets of link mechanisms. Each of the link mechanisms is a three-link-chain link mechanism including four revolute pairs, and includes input side and output side end links rotatably connected to the input side and output side link hubs and an intermediate links rotatably connected to input side and output side end links. The link mechanism have a positional relationship in which the revolute pair axes between the link hubs and the end links are located on the same plane and cross each other. At least one of the two sets of link mechanisms is provided with interlocking unit that interlocks the input side end link and the output side end link to each other so as to be rotationally displaced.

A link actuating device includes input side and output side link hubs, and two sets of link mechanisms. Each of the link mechanisms is a three-link-chain link mechanism including four revolute pairs, and includes input side and output side end links rotatably connected to the input side and output side link hubs and an intermediate links rotatably connected to input side and output side end links. The link mechanism have a positional relationship in which the revolute pair axes between the link hubs and the end links are located on the same plane and cross each other. At least one of the two sets of link mechanisms is provided with interlocking unit that interlocks the input side end link and the output side end link to each other so as to be rotationally displaced.

An actuator device includes a cartwheel flexure having a central moving carriage component configured for parallel motion along an axis of the actuator device. A frame is configured to remain stationary relative to the central moving carriage component. A plurality of cross-beams flexibly support the central moving carriage from the frame, wherein the plurality of cross-beams provide flexibility for movement of the central moving carriage relative to the frame along the axis and provide rigidity in other directions.

An actuator device includes a cartwheel flexure having a central moving carriage component configured for parallel motion along an axis of the actuator device. A frame is configured to remain stationary relative to the central moving carriage component. A plurality of cross-beams flexibly support the central moving carriage from the frame, wherein the plurality of cross-beams provide flexibility for movement of the central moving carriage relative to the frame along the axis and provide rigidity in other directions.

The present invention provides a four-chain six-degree-of-freedom hybrid mechanism. The four-chain six-degree-of-freedom hybrid mechanism comprises a fixed platform, a sliding rail mounted on the fixed platform, two sliding blocks, a mobile platform and four linear actuator chains connecting the mobile platform with a first sliding block and a second sliding block. The mobile platform is square-shaped. In the four linear actuator chains, the first linear actuator chain and the third linear actuator chain have the same structure while the second linear actuator chain and the fourth linear actuator chain have the same structure. The mobile platform can achieve six degrees of freedom. The four linear actuator chains coordinate to drive so as to achieve two translational degrees of freedom and two rotational degrees of freedom; the first sliding block and the second sliding block coordinate to drive so as to achieve the other translational and rotational degrees of freedom.

A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.