Layout and variables of air-powered drive of small-size pneumatic winch

The paper describes three layouts of a winch with a harmonic drive and a flexible gear in the form of a set of spindles: classical layout with the remote motor and barrel; layout with the harmonic drive and remote motor; layout with the barrel with the in-built drive members. The analytical models are developed to determine acting faces and lateral dimension of rigid gear teeth depending on the layout and on the design and kinematic variables of the winch and the drive.