The proposed design for mounting the spiral spring in the actuation system of the RCM mechanism. RCM: remotecenter-of-motion. Flat spiral spring is one of the typical springs, which is widely used in crane motor stators
These are long bands or strips wound into two or more coils with one end clamped and the other attached to a shaft or wheel. The spring stores energy when the shaft is rotated. This is used as a balancing element in mechanical watches that gives the oscillating time controller its natural frequency. Thus, in watchmaking, they are also called balance springs
