Systems, methods, and apparatus are described herein related to steering assemblies to maintain a predetermined Ackerman geometry as well as for determining dimensions of modified elliptical gears based on ratios between angles of steerage implemented at first and second steerable wheels of a vehicle to maintain a predetermined Ackerman geometry.

An apparatus for attenuating or counterbalancing external load fluctuations on a propeller driver machine is disclosed. In one embodiment a set of non-circular gears coupled to a rotor shaft or to the gearbox of the machine are further coupled to an auxiliary flywheel. The shapes and inertial characteristics of the non-circular gears and the inertial characteristics of the auxiliary flywheel are designed to counterbalance cyclic load fluctuations experienced by the rotor shaft. In another embodiment, an inertial element is flexibly attached to a rotor shaft by a set of flexible elements of the machine wherein the moment of inertia of the inertial element and the stiffness of the flexible elements are selected to absorb and attenuate external load fluctuations on the rotor shaft. The propeller driven machine may be a HAWG type wind turbine and the external load fluctuations caused by wind shear and tower shadowing effects.

Disclosed herein are multi-turn drive assemblies, systems and methods of use thereof. The multi-turn drive assemblies enable a robot link member to have a maximum rotation of at least 360 degrees about an axis. The multi-turn drive assemblies can be incorporated into a robot arm for enabling 360 degrees rotation of one or more link members about an axis. The robot arm may be located in a transfer chamber of an electronic device processing system. Also disclosed are methods of controlling the multi-turn drive assemblies and related robots.