Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.

Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.

An adjustment tool is disclosed herein. For example, an adjustment tool is provided comprising an input gear having gear teeth and an output gear having gear teeth, wherein the input gear and the output gear are in meshed engagement, an input shaft centrally coupled to the input gear, wherein the input gear is configured to rotate about the input shaft, and a housing supporting the input shaft for rotation and supporting a fastener, wherein a tooth of the output gear protrudes from the housing.

Speed reduction gear comprising two intermediate transmission lines, in particular for a turbine engine, comprising an input line (12) and an output line that is driven by the input line via said intermediate transmission lines, said intermediate transmission lines being substantially parallel, characterised in that said reduction gear comprises means for distributing loads between said intermediate lines, said load distribution means comprising swiveling coupling means (30) for rotatably coupling one end of the input line, and oil-damping means (40, 50) for damping radial movements of an opposite end of the input line.

Speed reduction gear comprising two intermediate transmission lines, in particular for a turbine engine, comprising an input line (12) and an output line that is driven by the input line via said intermediate transmission lines, said intermediate transmission lines being substantially parallel, characterised in that said reduction gear comprises means for distributing loads between said intermediate lines, said load distribution means comprising swiveling coupling means (30) for rotatably coupling one end of the input line, and oil-damping means (40, 50) for damping radial movements of an opposite end of the input line.

Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.

Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.

A supporting device includes first and second supporting flanges coupled with first and second transmissions, respectively, and a support via which a supporting force is transmittable from the first supporting flange to the second supporting flange. The support includes a lever element which is coupled in an articulated manner with an attachment element on the first supporting flange and thus articulated with the first supporting flange, and a supporting element which is coupled in an articulated manner with the lever element and connected to the second supporting flange and which includes two spaced-apart supporting parts. The lever element is arranged partly between two spaced-apart attachment parts of the attachment element and partly between the supporting parts of the supporting element and is coupled in an articulated manner with the attachment element via the attachment parts and in an articulated manner with the supporting element via the supporting parts.

A supporting device includes first and second supporting flanges coupled with first and second transmissions, respectively, and a support via which a supporting force is transmittable from the first supporting flange to the second supporting flange. The support includes a lever element which is coupled in an articulated manner with an attachment element on the first supporting flange and thus articulated with the first supporting flange, and a supporting element which is coupled in an articulated manner with the lever element and connected to the second supporting flange and which includes two spaced-apart supporting parts. The lever element is arranged partly between two spaced-apart attachment parts of the attachment element and partly between the supporting parts of the supporting element and is coupled in an articulated manner with the attachment element via the attachment parts and in an articulated manner with the supporting element via the supporting parts.

A driving apparatus according to an embodiment includes an arm, an operation target, and a brake unit. The arm has one end supported by a support mechanism, and includes an electric driving source. The operation target is attached to the other end of the arm, the other end being an end on the opposite side of the one end, and is enabled to be pivoted by the driving source about one rotational axis intersecting with a direction from the one end to the other end. The brake unit secures immobility of a target gear that is a gear disposed in the arm, and that is a gear being rotated as the operation target is pivoted, when the power supply to the driving source stops.