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Fig 3 - Lock Your Robot: A Review of Locking Devices in Robotics

This figure shows the types of friction based locking devices with: (a) a bi-stable brake, (b) an overrunning clutch, (c) a piezo actuated brake, (d) a statically balanced brake, (e) a wormwheel, (f) a self-engaging brake, (g) a thermic lock, (h) a self-engaging pinion-gear mechanism and (i) a capstan.
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