Figure 3.13. Mechanism of a rod with a ball-screw converter (Soyuz APDA). 1. rigid casing; 2. flexible casing; 3. screw; 4. ball-screw converter nut; 5. axis of the two-stage hinge. Key features of these drives are their short lifetimes (frequently only 5-10 static and up to several dozen technological cycles with a total operating time of several hours), their small power (from several watts to several dozen watts), their work in a vacuum, and the absence of speed regulation.
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