The original RCM module was actuated through worm gears and chain drives. These present backlash and are difficult to precisely tune and maintain for the relatively small size of these components. The current version of the RCM orientation module, the BW-RCM, uses the special Ball-Worm technology in place of the regular worms, and cable drives replace the chains. These significantly reduce the backlash and kinematic precision of the module.
PAKY + BW-RCM + ARM