The paper presents the design of a driving kinematical joint driven by a shape memory alloy actuator, which has the capacity to ensure a control of displacements and of forces in both directions. There are presented some aspects regarding the main designing elements of the driving kinematical joint and of the actuator. The constructive solution, an original conception, presents a series of advantages. Thus, the use of electric, hydraulic or pneumatic engines or machines was eliminated, decreasing the weight and size of the driving kinematical joint, decreasing the energetic consumption, having a simple and viable construction. In order to verify the presented device functionality the numerical simulation method of specialized SolidWorks software was used.

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This article presents the determination of relations for calculation of forces and reactions within links and kinematical joints of a double gear harmonic transmission with wave generator dephased with π/2, necessary in dimensioning and verifying calculations of the transmission links.

This article represents a summary of the documentation and of theoretical and experimental research activity carried out by the authors in the field of the vibrations and noises produced by the transmission with Teflon-coated cylindrical gears. The experimental researches were performed on a test stand existing within the University "Eftimie Murgu", Resita, on whose gear a one, two and three layers of fluoropolymerised Xylan 1052 were filled. The purpose of the study is to analyse the influence of the number of the Teflon coated layers on the vibrations and noises.

The paper presents experimental determination of the friction coefficient variation at a radial plain bearing, depending on the values of the radial force R and the angular speed ω of the spindle at a constant lubricant temperature value.