DIFFERENTIAL CAPTURE DRIVE

摘要

1. A differential gripper drive comprising a first cable drum rigidly mounted on the first shaft and configured to move the first gripper, a second cable drum configured to move the second gripper, characterized in that it further comprises a second shaft on which rotatable a second cable drum is installed, a mechanical transmission configured to transmit torque between the first and second shafts. 2. The drive of claim 1, wherein the mechanical transmission is a gear train comprising at least two gears. The drive according to claim 1, which further comprises a control shaft of the second cable drum, located on the same axis with the second shaft in the cavity made in the second shaft. The drive according to claim 3, which further comprises a planetary gear of the second cable drum configured to transmit torque from the control shaft of the second cable drum to the second cable drum when the second shaft is decelerated and the possibility of transmitting torque from the second shaft to the second cable drum when the control shaft of the second cable drum. 5. The drive according to claim 4, in which the planetary gear includes a sun gear, at least one satellite and an annular gear, and the sun gear is located on the control shaft of the second cable drum, the axis of the at least one satellite is rigidly mounted on the protrusions of the second shaft, and the annular the pinion is located in the second cable drum. 6. The drive according to claim 5, in which the sun gear is made in one piece