Robotic joint using metal bands

摘要

A robotic arm utilizing two pulleys connected by two metal drive bands wound in opposite directions and rotatably attached to the pulleys. The metal drive bands may include multiple metal strips separated by a visco-elastic material. One end of one drive band is attached to the pulley by a pin. The pin has a laterally movable retaining piece with a slanted face having an attachment point connected to one end of the metal band, a vertically movable wedge piece with a face abutting the slanted face, and an adjustment piece which attaches the wedge piece to the pulley and moves the wedge piece vertically.