The principal element of a drilling machine is the rock-breaking tool which interacts directly with the medium being worked. In addition to its main function, this bit has to serve as a sensor for any variations in the state of the rock which may influence the resistance offered to its motion. The operating element (the bit) must, therefore, form a unified closely-linked system with the mechanism which secures its contact with the rock, so that signals from the bit-sensor can automatically adjust the machine to suit the mechanical properties of the rock being bored.In some drilling-machine systems developed at the Novosibirsk Electrical Engineering Institute, the link between the instrument and the actuating mechanism takes the form of a mechanical double-differential system which forms a component of the machine [1][2][3]. Figure 1 shows the structural interconnections of such a machine based on mechanical control of the drilling process.Motor Mo rotates the drive units of the mechanical differentials D and Df, which are linked respectively by two other links to the balancing mechanism BM, the rotation units, and the drili feed mechanism. The balancing mechanism imparts to differential D a certain given torque MBM. The torque M F due to the feed force is combined with the torque M B on the bit and fed to differential D by summing mechanism S. When the summed rotation and feed moments (M B + MF) deviate from the set value, MBM, there arises a difference of torque AM which causes a change in the angular velocities of the links of differential D which are connected to the drive of the balancing mechanism and the drill rotation drive, and also of the link of differential Df which controls the feed rate V F. The feed rate V F and, hence, the resistance offered by the rock to the drill (M B + M E) will continue to vary until AM becomes zero.On the basis of this system we devised a scheme for the drilling machine (Fig. 2).The drive link of the machine's mechanism is lead screw 2, which is driven by motor 1 fixed on to base 15. From screw 2 the rotation is transmitted via slotted bush 3 and pinion 4 to toothed ring 5 of the differential mechanism. Ring 5 transmits the motion via planetary wheels 6 in two directions: a) to wheel 7-8 which rotates the shaft and bit 13 (external crown 8 of wheel 7-8 meshes with wheel 12 which is joined to nut 17 on the lead screw); b) to the central wheel 14 which is linked by hexagonal bush 16 and clutch coupling 9 with the drive 10 of the balancing mechanism 11.The gear wheels and balancing mechanism are mounted in a common case 19 and form the moving part of the machine which travels on guides 18. The moving frame is fed towards the face by the difference between the angular velocities of nut 17 and screw 2. The balancing mechanism can serve various purposes. In a rotary-percussive ._ [ r-I