Methods and systems are provided for a device. In one example, the device is configured to automatically grab and slip a line. The device is further configured to decrease degradation to the line by limiting a rotation of the device via contact with the line.

A joint locking mechanism of a passive robotic arm includes: an output assembly, including a joint output shaft, and a friction disk fixed to the joint output shaft; a braking assembly, including a threaded shaft arranged coaxially with the joint output shaft, a threaded sleeve threaded to the threaded shaft, a rotary disk connected fixedly to the threaded shaft, an end cap rotatable relative to the rotary disk, and a scroll spring generating a rotational force on the threaded shaft. The scroll spring has one end connected fixedly to the end cap and the other end connected to the rotary disk or the threaded shaft. The threaded sleeve is abutted tightly against the friction disk.

A joint locking mechanism of a passive robotic arm includes: an output assembly, including a joint output shaft, and a friction disk fixed to the joint output shaft; a braking assembly, including a threaded shaft arranged coaxially with the joint output shaft, a threaded sleeve threaded to the threaded shaft, a rotary disk connected fixedly to the threaded shaft, an end cap rotatable relative to the rotary disk, and a scroll spring generating a rotational force on the threaded shaft. The scroll spring has one end connected fixedly to the end cap and the other end connected to the rotary disk or the threaded shaft. The threaded sleeve is abutted tightly against the friction disk.

Methods and systems are provided for a device. In one example, the device is configured to automatically grab and slip a line. The device is further configured to decrease degradation to the line by limiting a rotation of the device via contact with the line.

Methods and systems are provided for a device. In one example, the device is configured to automatically grab and slip a line. The device is further configured to allow a user to actuate a side plate and a cam independently of one another.

Yaw brakes for wind turbines are proposed, the wind turbines having a tower, a nacelle and a yaw system for rotating the nacelle with respect to the tower. The yaw brakes comprise a locking part, having a toothed profile at a side facing a toothed profile of an annular gear of the yaw system. The locking part of the yaw brakes is movable in a radial direction relative to the annular gear, between a brake position and a non-brake position. Brake discs and callipers may be eliminated.

A working machine including: a substructure; a superstructure rotatable relative to the substructure about a generally vertical slew axis; an electric slew motor arranged to slew the superstructure in rotation relative to the substructure about the slew axis; and a slew brake system including a motor driver circuit. The electric slew motor includes a motor winding with first and second terminals coupled to the motor driver circuit, and the slew brake system is arranged to selectively directly electrically couple the first and second terminals together to provide a short-circuit braking effect.