A harmonic gearset, having: a drive shaft; first and second ground gears spaced apart from each other along the drive shaft; an output gear disposed on the drive shaft, between the first and second ground gears; a first flexspline disposed radially between the drive shaft, the first ground gear and the output gear; and a second flexspline disposed radially between the drive shaft, the second ground gear and the output gear, wherein the first and second flexsplines are axially adjacent to each other.

A harmonic gearset, having: a drive shaft; first and second ground gears spaced apart from each other along the drive shaft; an output gear disposed on the drive shaft, between the first and second ground gears; a first flexspline disposed radially between the drive shaft, the first ground gear and the output gear; and a second flexspline disposed radially between the drive shaft, the second ground gear and the output gear, wherein the first and second flexsplines are axially adjacent to each other.

Systems and methods relate to a vertical takeoff and landing (VTOL) platform that can include a stator and a rotor magnetically levitated by the stator. The rotor and stator can be annular, such that the rotor rotates about a rotational axis. The stator can include magnets that provide guidance, levitation, and drive forces to drive the rotor, as well as to control operation of rotor blades of the rotor that can be independently rotated to specific pitch angles to control at least one of lift, pitch, roll, or yaw of the VTOL platform. Various controllers can be used to enable independent and redundant control of components of the VTOL platform.

Systems and methods relate to a vertical takeoff and landing (VTOL) platform that can include a stator and a rotor magnetically levitated by the stator. The rotor and stator can be annular, such that the rotor rotates about a rotational axis. The stator can include magnets that provide guidance, levitation, and drive forces to drive the rotor, as well as to control operation of rotor blades of the rotor that can be independently rotated to specific pitch angles to control at least one of lift, pitch, roll, or yaw of the VTOL platform. Various controllers can be used to enable independent and redundant control of components of the VTOL platform.

Systems and methods relate to a vertical takeoff and landing (VTOL) platform that can include a stator and a rotor magnetically levitated by the stator. The rotor and stator can be annular, such that the rotor rotates about a rotational axis. The stator can include magnets that provide guidance, levitation, and drive forces to drive the rotor, as well as to control operation of rotor blades of the rotor that can be independently rotated to specific pitch angles to control at least one of lift, pitch, roll, or yaw of the VTOL platform. Various controllers can be used to enable independent and redundant control of components of the VTOL platform.

Systems and methods relate to a vertical takeoff and landing (VTOL) platform that can include a stator and a rotor magnetically levitated by the stator. The rotor and stator can be annular, such that the rotor rotates about a rotational axis. The stator can include magnets that provide guidance, levitation, and drive forces to drive the rotor, as well as to control operation of rotor blades of the rotor that can be independently rotated to specific pitch angles to control at least one of lift, pitch, roll, or yaw of the VTOL platform. Various controllers can be used to enable independent and redundant control of components of the VTOL platform.

The subject matter of this specification can be embodied in, among other things, a linear-to-rotary apparatus that includes a linear actuator having an actuator housing including a piston chamber, a piston shaft disposed in the piston chamber, and a rotor apparatus. The rotor apparatus includes a rotary joint defining a rotational axis, a rotor arm extending radially from the rotary joint and configured to at least partially pivot about the rotary joint, and a torque linkage pivotably connected to the rotor arm. The torque linkage is also attached to an end of the piston shaft of the piston at a pivot connection joint, where the pivot connection joint defines a pivot axis that is substantially perpendicular to the translation axis of the piston shaft.

The subject matter of this specification can be embodied in, among other things, a linear-to-rotary apparatus that includes a linear actuator having an actuator housing including a piston chamber, a piston shaft disposed in the piston chamber, and a rotor apparatus. The rotor apparatus includes a rotary joint defining a rotational axis, a rotor arm extending radially from the rotary joint and configured to at least partially pivot about the rotary joint, and a torque linkage pivotably connected to the rotor arm. The torque linkage is also attached to an end of the piston shaft of the piston at a pivot connection joint, where the pivot connection joint defines a pivot axis that is substantially perpendicular to the translation axis of the piston shaft.

Systems and methods relate to a vertical takeoff and landing (VTOL) platform that can include a stator and a rotor magnetically levitated by the stator. The rotor and stator can be annular, such that the rotor rotates about a rotational axis. The stator can include magnets that provide guidance, levitation, and drive forces to drive the rotor, as well as to control operation of rotor blades of the rotor that can be independently rotated to specific pitch angles to control at least one of lift, pitch, roll, or yaw of the VTOL platform. Various controllers can be used to enable independent and redundant control of components of the VTOL platform.

Systems and methods relate to a vertical takeoff and landing (VTOL) platform that can include a stator and a rotor magnetically levitated by the stator. The rotor and stator can be annular, such that the rotor rotates about a rotational axis. The stator can include magnets that provide guidance, levitation, and drive forces to drive the rotor, as well as to control operation of rotor blades of the rotor that can be independently rotated to specific pitch angles to control at least one of lift, pitch, roll, or yaw of the VTOL platform. Various controllers can be used to enable independent and redundant control of components of the VTOL platform.