| abstract |
The invention discloses a transmission for a robot arm, including a first component having a drive member and a portion configured to be actuated to inhibit movement of the drive member, a second component; wherein one of the first component and the second component includes a driven member; and first and second transmission elements, wherein the first and second transmission elements are all coupled to the drive member and the second component, and configured as when the drive member moves the driven member moves with it, at least one transmission element in the first and the second transmission elements includes a first multielement transmission sub-element, a rotation axis of the drive member is in parallel to that of the driven member, the first multielement transmission sub-element includes a first transmission sub-element and a second transmission sub-element, and the drive member includes a first guide member and a second guide member configured to make the first and the second transmission sub-elements be located relative to the drive member. |