Development of the manipulator hinge based on the original planetary differential gearbox

For manipulation in small spaces, a compact hinge based on an original planetary differential gearbox is pro-posed. The kinematic diagram of the gearbox is described, the methodology for choosing its optimal parameters is outlined, and compared with wave and traditional planetary gearboxes from leading companies. A joint design is presented, including a planetary differential gearbox, motor, an angle sensor and slip rings. A manipulator built on the basis of the proposed hinges is described.