The present invention provides a transmission mechanism which is suited to miniaturization and can reduce motion transmission errors. This transmission mechanism includes: a cam; a plurality of pins arrayed along a side surface of the cam; guide plates provided with a plurality of guide holes; and a pair of gears disposed so as to sandwich the cam. Each pin contacts only one of the pair of gears, and is guided to the corresponding guide hole in conjunction with the rotation of the cam and moves along the cam and the corresponding gear, thereby causing the guide plates or the pair of gears to rotate with respect to the cam.

A rotary-type series elastic actuator (SEA) for use in robotic applications. The SEA including a motor, gear transmission assembly, spring assembly, and sensors. In one example, a robotic joint may include the SEA as well as two links coupled with each other at the joint assembly. The two links may be designated as input and output links. Each link may have a joint housing body which may be concentrically connected via a joint bearing so that they freely rotate against each other. The housing frame of the SEA may be fixed at the joint housing body of the input link while the output mount of the spring assembly of the SEA may be concentrically coupled with the joint housing body of the output link. The rotation of the motor rotor causes the rotation of the output link with respect to the input link plus spring deflection of the spring assembly. When an external force or torque are applied between the two links, a control action of a control loop may cause a rotation and motive force of the motor that lead to the deflection of the spring assembly to balance with the external force/torque and inertial force from body masses moving together with the links.

A rotary-type series elastic actuator (SEA) for use in robotic applications. The SEA including a motor, gear transmission assembly, spring assembly, and sensors. In one example, a robotic joint may include the SEA as well as two links coupled with each other at the joint assembly. The two links may be designated as input and output links. Each link may have a joint housing body which may be concentrically connected via a joint bearing so that they freely rotate against each other. The housing frame of the SEA may be fixed at the joint housing body of the input link while the output mount of the spring assembly of the SEA may be concentrically coupled with the joint housing body of the output link. The rotation of the motor rotor causes the rotation of the output link with respect to the input link plus spring deflection of the spring assembly. When an external force or torque are applied between the two links, a control action of a control loop may cause a rotation and motive force of the motor that lead to the deflection of the spring assembly to balance with the external force/torque and inertial force from body masses moving together with the links.

A cycloid speed reducer includes an input shaft, a rolling assembly, first and second cycloid discs, a crankshaft and an output disc. The first and second cycloid discs are disposed around the input shaft and driven by the input shaft. The first and second cycloid discs are located at two opposite sides of the rolling assembly, respectively. The crankshaft includes first and second eccentric ends and first and second concentric ends integrally formed as a one-piece structure and arranged sequentially. The first and second eccentric ends are linked with the first and second cycloid discs respectively. An eccentricity value is between any neighboring two of the concentric and eccentric ends. The diameters of all the concentric and eccentric ends are equal. The output disc is linked with the first or second concentric end. The output disc is a power output end of the cycloid speed reducer.

A hollow reducer for high precision control includes a pin wheel housing and two-stage reduction components disposed in the pin wheel housing. A first-stage reduction component includes a driving wheel on a servo motor, a dual gear, and a planet wheel; and a second-stage reduction component includes 2-3 eccentric shafts distributed uniformly, cycloidal gears, a pin, rigid disks, and bearings, wherein two eccentric sections of the eccentric shaft support the cycloidal gears by means of the bearings, shaft extensions on two sides of the eccentric section of the eccentric shaft are supported on the left and right rigid disks by the bearings, and the rigid disks are supported on two sides of the pin wheel housing by the bearings.

A hollow reducer for high precision control includes a pin wheel housing and two-stage reduction components disposed in the pin wheel housing. A first-stage reduction component includes a driving wheel on a servo motor, a dual gear, and a planet wheel; and a second-stage reduction component includes 2-3 eccentric shafts distributed uniformly, cycloidal gears, a pin, rigid disks, and bearings, wherein two eccentric sections of the eccentric shaft support the cycloidal gears by means of the bearings, shaft extensions on two sides of the eccentric section of the eccentric shaft are supported on the left and right rigid disks by the bearings, and the rigid disks are supported on two sides of the pin wheel housing by the bearings.

A mechanism including a first pair of races having a first pair of raceways and a first rolling element operable to roll between the first pair of raceways, wherein at least one of the first pair of raceways has a substantially variable curvature along at least a portion of a path of the first rolling element. A program product that determines a solution by adjusting the curvature of a first pair of raceways on opposite sides of a rolling element, at least one of the first pair of raceways having a substantially variable curvature along the contact points in the direction of the corresponding range of motion for the rolling element.

A mechanism including a first pair of races having a first pair of raceways and a first rolling element operable to roll between the first pair of raceways, wherein at least one of the first pair of raceways has a substantially variable curvature along at least a portion of a path of the first rolling element. A program product that determines a solution by adjusting the curvature of a first pair of raceways on opposite sides of a rolling element, at least one of the first pair of raceways having a substantially variable curvature along the contact points in the direction of the corresponding range of motion for the rolling element.

A turbomachine engine includes a fan assembly and a core engine comprising a turbine and an input shaft rotatable with the turbine is provided. A single-stage epicyclic gear assembly receives the input shaft at a first speed and drives an output shaft coupled to the fan assembly at a second speed. A sun gear rotates about a longitudinal centerline of the gear assembly and has a sun gear-mesh region along the longitudinal centerline of the gear assembly where the sun gear is configured to contact a plurality of planet gears. A ring gear-mesh region is provided along the longitudinal centerline of the gear assembly where a ring gear is configured to contact the plurality of planet gears. The sun gear-mesh region is axially offset from the ring gear-mesh region along the longitudinal centerline.

A turbomachine engine includes a fan assembly and a core engine comprising a turbine and an input shaft rotatable with the turbine is provided. A single-stage epicyclic gear assembly receives the input shaft at a first speed and drives an output shaft coupled to the fan assembly at a second speed. A sun gear rotates about a longitudinal centerline of the gear assembly and has a sun gear-mesh region along the longitudinal centerline of the gear assembly where the sun gear is configured to contact a plurality of planet gears. A ring gear-mesh region is provided along the longitudinal centerline of the gear assembly where a ring gear is configured to contact the plurality of planet gears. The sun gear-mesh region is axially offset from the ring gear-mesh region along the longitudinal centerline.