NASA NTRS · 19830000197
Coaxial Redundant Drives
Abstract
Harmonic drives allow redundancy and high out put torque in small package. If main drive fails, standby drive takes over and produces torque along same axis as main drive. Uses include power units in robot for internal pipeline inspection, manipulators in deep submersible probes or other applications in which redundancy protects against costly failures.
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Brissette, R.. 1983-10-01. Coaxial Redundant Drives. https://ntrs.nasa.gov/citations/19830000197
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