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.

The present invention relates to robots and discloses a seven-degrees-of-freedom humanoid robotic arm, including an upper arm component and a forearm component. One end of the upper arm component is provided with a shoulder pitching joint, a shoulder yawing joint and a shoulder rolling joint for connecting with a shoulder. One end of the forearm component is provided with an elbow pitching joint and an elbow rolling joint for connecting with the upper arm component, and the other end of the forearm component is provided with a wrist pitching joint and a wrist yawing joint for connecting with a robotic hand. The seven-degrees-of-freedom humanoid robotic arm of the present invention achieves a highly bionic design of a spherical joint of human shoulder, elbow and wrist joints.

The present invention relates to robots and discloses a seven-degrees-of-freedom humanoid robotic arm, including an upper arm component and a forearm component. One end of the upper arm component is provided with a shoulder pitching joint, a shoulder yawing joint and a shoulder rolling joint for connecting with a shoulder. One end of the forearm component is provided with an elbow pitching joint and an elbow rolling joint for connecting with the upper arm component, and the other end of the forearm component is provided with a wrist pitching joint and a wrist yawing joint for connecting with a robotic hand. The seven-degrees-of-freedom humanoid robotic arm of the present invention achieves a highly bionic design of a spherical joint of human shoulder, elbow and wrist joints.

A drive transmission mechanism includes a drive input gear part, an output side coupling and a coil spring. The drive input gear part includes a cylindrical boss formed on a rotational center. The drive input gear part is coupled to a drive input side gear. The output side coupling is rotated together with the drive input gear part around a same rotational axis as the drive input gear part to output a drive force of the drive input gear part to a driven member. The coil spring biases the output side coupling to a direction separated away from the drive input gear part along the rotational axis. The drive input gear part and the output side coupling are rotatable around a slide pin inserted into a slide hole formed in the boss as the rotational axis. The coil spring is held between the output side coupling and the slide pin.

A drive transmission mechanism includes a drive input gear part, an output side coupling and a coil spring. The drive input gear part includes a cylindrical boss formed on a rotational center. The drive input gear part is coupled to a drive input side gear. The output side coupling is rotated together with the drive input gear part around a same rotational axis as the drive input gear part to output a drive force of the drive input gear part to a driven member. The coil spring biases the output side coupling to a direction separated away from the drive input gear part along the rotational axis. The drive input gear part and the output side coupling are rotatable around a slide pin inserted into a slide hole formed in the boss as the rotational axis. The coil spring is held between the output side coupling and the slide pin.

Embodiments relate to robotic arm assemblies. Robotic arm assembly includes an arm segment and end-effector assembly. Arm segment includes an elongated body which forms an arm segment central axis. End-effector assembly is securable to the arm segment. End-effector assembly includes an instrument assembly and first gear assembly. Instrument assembly includes an instrument and instrument gear. Instrument forms an instrument central axis. Instrument is for performing an action. Proximal end of instrument is secured to the instrument gear. First gear assembly includes a first primary gear and protrusion portion. First primary gear includes a second central axis formed through the first primary gear. Second central axis intersects with first central axis, instrument central axis, and arm segment central axis. Protrusion portion is secured to the first primary gear, and includes an opening. A portion of the proximal end of the instrument is provided in the opening and rotatable within the opening.

Embodiments relate to robotic arm assemblies. Robotic arm assembly includes an arm segment and end-effector assembly. Arm segment includes an elongated body which forms an arm segment central axis. End-effector assembly is securable to the arm segment. End-effector assembly includes an instrument assembly and first gear assembly. Instrument assembly includes an instrument and instrument gear. Instrument forms an instrument central axis. Instrument is for performing an action. Proximal end of instrument is secured to the instrument gear. First gear assembly includes a first primary gear and protrusion portion. First primary gear includes a second central axis formed through the first primary gear. Second central axis intersects with first central axis, instrument central axis, and arm segment central axis. Protrusion portion is secured to the first primary gear, and includes an opening. A portion of the proximal end of the instrument is provided in the opening and rotatable within the opening.

An engine includes a static frame member; a spool configured to rotate relative to the static frame member during operation of the engine; a gearbox coupled to the spool; and a gearbox coupling assembly mounting the gearbox to the static frame member using a plurality of moveable connection members, each moveable connection member including a sliding connection allowing for movement of the gearbox relative to the static frame member in a plane perpendicular to an axial direction of the engine.

An engine includes a static frame member; a spool configured to rotate relative to the static frame member during operation of the engine; a gearbox coupled to the spool; and a gearbox coupling assembly mounting the gearbox to the static frame member using a plurality of moveable connection members, each moveable connection member including a sliding connection allowing for movement of the gearbox relative to the static frame member in a plane perpendicular to an axial direction of the engine.

A carrier assembly for a planetary gear assembly includes a planet frame defining a central aperture therethrough, the central aperture defining a rotation axis, the planet frame configured to rotatably support a plurality of planet gears, and a carrier connected to the planet frame via a stud. At least one of a portion of the carrier proximate the stud and a portion of the stud between the carrier and the planet frame has a dimension reduction, such as a thickness reduction, therein.