Disclosed is a creel including a plurality of creel bobbins, a plurality of guiding tubes located at the lower end of the creel and a plurality of guiding tubes located at the upper end of the creel, wherein each guiding tube is arranged for receiving a wire from an individual creel bobbin, wherein the lower half of the creel bobbins are arranged to feed their wires to the guiding tubes at the upper end of the creel, while the upper half of the creel bobbins are arranged to feed their wires to the guiding tubes at the lower end of the creel.

Disclosed is a creel including a plurality of creel bobbins, a plurality of guiding tubes located at the lower end of the creel and a plurality of guiding tubes located at the upper end of the creel, wherein each guiding tube is arranged for receiving a wire from an individual creel bobbin, wherein the lower half of the creel bobbins are arranged to feed their wires to the guiding tubes at the upper end of the creel, while the upper half of the creel bobbins are arranged to feed their wires to the guiding tubes at the lower end of the creel.

A braking device including: a piezoelectric element; and a braking portion. The braking portion is configured to be fixed to a member when the piezoelectric element is in a first state, and to be slidable along the member when the piezoelectric element is in a second state. The piezoelectric element changes from one state to another state when a voltage is applied.

A system and method for backdrivability control of end effectors in robotic systems are described. In one example, a robotic system includes a joint in a kinematic chain, an end effector at an end of the kinematic chain, and an assembly for backdrivability control of the joint. The assembly includes a frame comprising a flexure arm and a circular clearance area that extends around the joint, a brake band having one end secured along the circular clearance area and a second end secured at an end of the flexure arm, and a brake actuator configured to selectively pull the end of the flexure arm and tighten the brake band around the joint. The brake actuator can be actuated to tighten the brake band around the joint, arresting or dampening motion in the kinematic chain of the system for certain movements.

A system and method for backdrivability control of end effectors in robotic systems are described. In one example, a robotic system includes a joint in a kinematic chain, an end effector at an end of the kinematic chain, and an assembly for backdrivability control of the joint. The assembly includes a frame comprising a flexure arm and a circular clearance area that extends around the joint, a brake band having one end secured along the circular clearance area and a second end secured at an end of the flexure arm, and a brake actuator configured to selectively pull the end of the flexure arm and tighten the brake band around the joint. The brake actuator can be actuated to tighten the brake band around the joint, arresting or dampening motion in the kinematic chain of the system for certain movements.

A support arm system (10) has at least one lockable articulated connection (16). A locking device (20) is associated with the articulated connection (16). The locking device (20) includes a passive drive (32) as well as an actuating device (36) associated with the locking device (20) with an active drive (38). The active drive (38) acts in the same plane as the passive drive (32).

A support arm system (10) has at least one lockable articulated connection (16). A locking device (20) is associated with the articulated connection (16). The locking device (20) includes a passive drive (32) as well as an actuating device (36) associated with the locking device (20) with an active drive (38). The active drive (38) acts in the same plane as the passive drive (32).

A system for operating a brake lever includes a handle and a lock having a first position that prevents pivotal movement of the handle with respect to the lever and a second position that allows pivotal movement of the handle with respect to the lever. A method for operating a brake lever includes locking a handle to the lever to prevent pivotal movement between the handle and the lever and manually positioning the lever to apply and release the brake. The method further includes unlocking the handle from the lever to permit pivotal movement between the handle and the lever and automatically positioning the lever to apply the brake.

A system for operating a brake lever includes a handle and a lock having a first position that prevents pivotal movement of the handle with respect to the lever and a second position that allows pivotal movement of the handle with respect to the lever. A method for operating a brake lever includes locking a handle to the lever to prevent pivotal movement between the handle and the lever and manually positioning the lever to apply and release the brake. The method further includes unlocking the handle from the lever to permit pivotal movement between the handle and the lever and automatically positioning the lever to apply the brake.

A power transmission device includes a transmission mechanism including a planetary gear set, a first engagement element, and a second engagement element. The first engagement element is a band brake configured to be engaged when the transmission mechanism is in a low gear speed. The second engagement element is a multi-plate friction clutch configured to be engaged when the transmission mechanism is in a high gear speed. The multi-plate friction clutch includes a driven plate and a drive plate. The band brake overlaps with the driven plate and the drive plate of the multi-plate friction clutch in a radial direction.