Remote control manipulator drives

Claim 1

A POWER DRIVEN MANIPULATOR COMPRISING AT LEAST THREE MEMBERS CONNECTED TOGETHER TO FORM FIRST AND SECOND JOINTS, A FIRST MEMBER CONNECTED TO A SECOND MEMBER FOR PIVOTAL MOVEMENT WITH RESPECT TO SAID SECOND MEMBER ABOUT A FIRST AXIS, A THIRD MEMBER CONNECTED TO SAID SECOND MEMBER FOR PIVOTAL MOVEMENT WITH RESPECT TO SAID SECOND MEMBER ABOUT A SECOND AXIS, MEANS FOR PIVOTING SAID SECOND MEMBER WITH RESPECT TO SAID FIRST MEMBER INCLUDING A FIRST DIFFERENTIAL PLANETARY GEAR SPEED REDUCER MOUNTED COAXIALLY OF ONE OF SAID AXES AND FIRST MOTOR MEANS OPERATIVELY CONNECTED TO SAID SPEED REDUCER, MEANS FOR PIVOTING SAID THIRD MEMBER WITH RESPECT TO SAID SECOND MEMBER INCLUDING A SECOND DIFFERENTIAL PLANETARY GEAR SPEED REDUCER MOUNTED COAXIALLY OF ONE OF SAID AXES AND SECOND MOTOR MEANS OPERATIVELY CONNECTED TO SAID SPEED REDUCER, EACH SPEED REDUCER INCLUDING A PLANETARY GEAR CAGE MOUNTED COAXIALLY OF THE AXIS FOR RELATIVE ROTATION ABOUT SAID AXIS, MEANS FOR ROTATING SAID GEAR CAGE INCLUDING A FIRST INTERNALLY TOOTHED RING GEAR SECURED TO ONE OF SAID MEMBERS, AT LEAST ONE PLANETARY GEAR ROTATABLY MOUNTED ON SAID GEAR CAGE, SAID PLANETARY GEAR INCLUDING A FIRST GEAR PORTION AND A SECOND GEAR PORTION, A SECOND INTERNALLY TOOTHED RING GEAR SECURED TO SAID MEMBER WHICH IS CONNECTED TO SAID ONE MEMBER FOR PIVOTAL MOVEMENT WITH RESPECT THERETO, THE FIRST GEAR PORTION OF SAID PLANETARY GEAR ENGAGING THE FIRST RING GEAR THE SECOND GEAR PORTION OF SAID PLANETARY GEAR ENGAGING THE SECOND RING GEAR, SAID GEAR ENGAGEMENTS PROVIDING DIFFERENT DRIVING RATIOS WITH RESPECT TO EACH OTHER, WHEREBY PIVOTAL MOVEMENT OF SAID MEMBER WHICH IS CONNECTED TO SAID ONE MEMBER IS CAUSED AS THE GEAR CAGE ROTATES IN RESPONSE TO ACTUATION OF THE MOTOR MEANS.