... stepped-disk parts U-shaped parts pyrotechnic, power rack -and- pinion rotary-to-reciprocating in-line reciprocator track-switching scotch yoke rotation-to-translation scotch-yoke screw self-locking ... ball -and- screw bearings and roller belt belt -and- chain, variable speed cam for machine tools for tool-slide mechanism two-directional rack -and- gear Links 208 130 213 192 115 55 341 380 382 159 163 ... spring-mounted Drawings, 3D Driller, parallel-link Drives (drivers) adjustable chain clutch cone harmonic pivot slider angle-doubling angular-momentum-balanced, robot ball -and- cone ball -and- disk, and...