The gearbox can therefore be regarded as a single component regardless of the complexity of the inner structure.
For internal parameters describing the design quantities, additional types may be used by adding user-specific types, for example, the transmission ratio for a gearbox.
To overcome these problems, the mechanical structure was redesigned without the gearbox.
The capstans allowed for large reductions in the drive speed without the use of reduction gearboxes that were noisy and heavy.
Moreover, the gearbox had a considerable amount of inertia relative to the flexible manipulator hub.
Thus, modelling and control of the system with this gearbox would require consideration of this additional vibration, increasing the complexity of the controller.
A steel ring was clamped around the gearbox and a spring steel bar was used to clamp the steel ring to the mounting structure.
These frictions are essentially located in the gearbox reducers.
