There are actually six in all! The ring gears allow
a full 360-degree rotation so the arm can swing
all around.
The twin joysticks (
4
) have mechanical
linkages that translate up/down, left/right,
and twist inputs to move six pointers into one
of three positions: left, right, or center (
5
).
These pointers work like the shift paddle in the
Big Loader’s transmission, except the design
is replicated with six spinning drums (
6
), one
for each action (shoulder rotation and lift, elbow
bend, arm swivel, wrist bend, and finger grab).
When at rest in the center position, the internal
planetary gear spins freely and no motion is
transmitted. Deflecting the joystick moves the
arm left (or right) to stop the drum in one position
(or the other), which swings a drive gear pinion
into action. The drum then transmits torque to its
linked ring gear (
7
)in the main shoulder joint
and down through the rest of the gear train.
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