NASA NTRS · 19760000114
Concentric-tube differential drive
Abstract
Remote manipulator consists essentially of gear shafts that are placed concentrically with bevel gears located at each joint. Teleoperator's advantages include light weight accessibility of parts, continuous rotation of joints, possibility of underwater use, and possibility of miniaturization.
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Marlow, R. E.. 1976-03-01. Concentric-tube differential drive. https://ntrs.nasa.gov/citations/19760000114
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