A system for moving a practice target includes a capstan winch assembly including a drive wheel; a target sled; a rope that connects the target sled to the drive wheel in an endless loop, wherein a first end of the rope is connected to a first end of the target sled and a second end of the rope is connected to a second end of the target sled; a sensor configured to detect a location of the sled; a motor configured to control rotation of the drive wheel bi-directionally, wherein the rope is provided on the drive wheel so as to move by rotation of the drive wheel; a user input unit located remotely from the capstan winch assembly and the target sled; and a processor including a memory programmed to control rotation of the drive wheel, thereby controlling movement of the target sled.

A retractable roof for a building having a supporting frame and a high structure extending vertically above the supporting frame. The roof has at least one structure section with first and second panels. The first panel is hingeably mounted on the supporting frame at a proximal hinge and the second panel is hingeably mounted on the first panel at a distal hinge. A distal end of the second panel is suspended to the high structure with a distal cable connected to a distal motorized winch. A tackle member connects to both first and second panels adjacent the proximal hinge and the distal end, respectively, and includes a tackle wire that forms a wire side of a triangular cross-sectional shape with the first and second panels. The tackle wire connects to a winch mechanism to control a length of the wire side.

A line tensioner is disclosed. A winch has a winch drum with at least one groove over which a line is passed. The winch has a line tensioner assembly with a stationary cam surface and a plurality of line tensioners rotating with the winch drum. Each has a line gripping portion and a cam follower. The line gripping portion is brought into and out of contact with the line as the cam follower rides along at least a portion of the cam surface.

A winch is disclosed having a drive cylinder, configured to be rotated by an applied force about its longitudinal axis and having at least three drive grooves. The winch also includes an idler with a longitudinal axis spaced apart from the longitudinal axis of the drive cylinder. A line is fed onto the winch by passing it over a first of the at least three drive grooves then around the idler and then around a second of the at least three drive grooves. The line is attached to one of a fixed object or the object to be moved. The winch is attached to the other of the fixed object or the object to be moved. As the applied force is applied to the drive cylinder, the line is gripped by the at least three drive grooves and a length of the line between the fixed object and the object to be moved is shortened, whereby the object is moved.

A tower for a pipe laying system comprises a frame with a leg to support the frame, and a winch support integrally formed with the leg. The winch support is able to receive and support a winch and/or winch components. The winch support can be formed in a lower portion of the tower leg.

The method of providing a necessary preload for a rope or cable on a dual drum traction winch without reducing the capacity of the winch or requiring a second piece of capital equipment to provide the preload force by using a freely rotating wheel to load the rope or cable against at least one of the drums and cause a frictional traction on the winch drum.

A tower for a pipe laying system comprises a frame with a leg to support the frame, and a winch support integrally formed with the leg. The winch support is able to receive and support a winch and/or winch components. The winch support can be formed in a lower portion of the tower leg.

A cable-driven device, such as a joint or instrument of a computer-assisted manipulator system, may comprise a capstan mechanism to wind/unwind cables. The capstan mechanism comprises a capstan that has a groove in an outer surface of the capstan to guide the cables, which are routed from a take-up pulley, to spool onto the capstan as the capstan rotates. A guide element is engaged with the groove. The guide element is held translationally stationary relative to the take-up pulley, while there is relative translation between the capstan and both the guide element and the take-up pulley. Thus, as the capstan rotates, the guide element engages with the groove and forces the capstan and the take-up pulley to translate relative to one another. This relative translation of the capstan and the take-up pulley may prevent deviation of a take-up angle of the cable as the cable spools onto the capstan.

The method of providing a necessary preload for a rope or cable on a dual drum traction winch without reducing the capacity of the winch or requiring a second piece of capital equipment to provide the preload force by using a freely rotating wheel to load the rope or cable against at least one of the drums and cause a frictional traction on the winch drum.

An apparatus includes an end effector, a shaft assembly extending proximally from the end effector, an instrument base, and a knife driving assembly. The end effector includes a pair of jaws and a knife member capable of actuating between a proximal and distal position. The knife driving assembly can actuate the knife member between the proximal and distal position. The knife driving assembly includes a cable and a knife drive input assembly coupled only to a first drive input. The knife driven assembly is capable of rotating in first and second angular directions. The cable terminates into a first end and a second end, which are both attached to the knife drive input assembly. A portion of the cable is attached to the knife member. Rotation of the knife drive input assembly in the first angular direction drives the knife member distally. Rotation of the knife drive input assembly in the second angular direction drives the knife member proximally.