The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

The tooth part includes: a tubular portion having an inner tooth portion formed on an inner peripheral surface and an outer tooth portion formed on an outer peripheral surface; a plurality of inner peripheral wall portions that each extend in an axial direction of the tubular portion and form a tooth tip portion of the inner tooth portion and a tooth bottom portion of the outer tooth portion; a plurality of outer peripheral wall portions that each extend in the axial direction and form a tooth bottom portion of the inner tooth portion and a tooth tip portion of the outer tooth portion; and an annular rib that is joined to the outer peripheral wall portions and that extends in an annular shape on an open end side with respect to the inner peripheral wall portions in the axial direction and radially outward from the inner peripheral wall portions, at an open end of the tubular portion.

The tooth part includes: a tubular portion having an inner tooth portion formed on an inner peripheral surface and an outer tooth portion formed on an outer peripheral surface; a plurality of inner peripheral wall portions that each extend in an axial direction of the tubular portion and form a tooth tip portion of the inner tooth portion and a tooth bottom portion of the outer tooth portion; a plurality of outer peripheral wall portions that each extend in the axial direction and form a tooth bottom portion of the inner tooth portion and a tooth tip portion of the outer tooth portion; and an annular rib that is joined to the outer peripheral wall portions and that extends in an annular shape on an open end side with respect to the inner peripheral wall portions in the axial direction and radially outward from the inner peripheral wall portions, at an open end of the tubular portion.

A phenol resin for a wet friction material of the invention contains a resol-type phenol resin having, in one molecule, a structural unit A which is derived from a phenol compound having one phenolic hydroxyl group and a structural unit B which is derived from a polyfunctional phenol compound having two phenolic hydroxyl groups.

The present invention provides methods and systems for a clutch hub that includes a plate with a top surface and a bottom surface that extends outwardly to an outer edge. An annular ring portion with an exterior surface extends upward from the top surface of the plate at a distance from the outer edge and forming an outer flange between the exterior surface and the outer edge. A plurality of splines disposed on the exterior surface of the annular ring portion.

The present invention provides methods and systems for a clutch hub that includes a plate with a top surface and a bottom surface that extends outwardly to an outer edge. An annular ring portion with an exterior surface extends upward from the top surface of the plate at a distance from the outer edge and forming an outer flange between the exterior surface and the outer edge. A plurality of splines disposed on the exterior surface of the annular ring portion.

The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

A manufacturing method for a joint part in which a first metal piece and a second metal piece are joined to each other by performing welding by irradiating a high-energy beam to a joint surface on which the first metal piece and the second metal piece face each other, the first metal piece including a first flow path for passage of a fluid provided at a specific depth from a surface on a side exposed to the high-energy beam, the second metal piece including a second flow path for passage of the fluid provided at a specific depth from the surface on the side exposed to the high-energy beam, and the first flow path and the second flow path being coupled to each other on the joint surface.