Counter-rotating motors with linear output

1. An apparatus comprising:

a first rotary motor comprising a first motor housing coupled to a support structure;

a second rotary motor comprising a second motor housing coupled to said support structure;

a transmission coupled to the first and second rotary motors comprising:

a first ball nut having a first thread direction coupled to the first rotary motor,

a second ball nut having a second thread direction opposite the first direction coupled to the second rotary motor

a ball screw having a first threaded region matching the thread direction of the first ball nut and a second threaded region matching the thread direction of the second ball nut;

wherein the transmission converts rotation of the first rotary motor in a first direction and simultaneous rotation of the second rotary motor in a second direction which is opposite the first direction to linear motion of an output shaft in a single direction, wherein the reaction torque applied by the pair of oppositely rotating rotary motors to said support structure is reduced compared to the reaction torque applied to said support structure by a single one of the first and second rotary motors operating alone.

2. The apparatus of claim 1 wherein: the first and second rotary motors are arranged serially and rotate around a common axis.

3. The apparatus of claim 1 wherein: the first rotary motor rotates around a first axis, and the second rotary motor rotates around a second axis distinct from the first axis.

4. The apparatus of claim 3 wherein the transmission comprises: a first rotary-to-linear transmission coupled to the first rotary motor; a second rotary-to-linear transmission coupled to the second rotary motor; and a yoke coupled to the first and second rotary-to-linear transmissions.

5. The apparatus of claim 4 wherein the first and second rotary-to-linear transmissions each comprise a ball nut coupled to the respective rotary motor and a ball screw coupled to the corresponding ball nut and to the output shaft.

6. The apparatus of claim 1 further comprising a coil spring, wherein a sub-assembly comprising the first and second rotary motors is located at least partially inside the coil spring.

7. The apparatus of claim 6 wherein the first and second rotary motors are located entirely inside the coil spring.

8. The apparatus of claim 1 further comprising an air spring suspension element, wherein a portion of the output shaft extending out of the first and second motors is located inside the air spring suspension element.

9. The apparatus of claim 1 further comprising: a first power amplifier coupled to drive at least the first rotary motor; a position sensor indicating a position of the transmission; and control circuitry coupled to the position sensor and the first power amplifier and configured to operate the power amplifier to drive the first and second rotary motors cooperatively based on the position indication of the position sensor.

10. The apparatus of claim 9 wherein the control circuitry infers the position of the second rotary motor from the position of the first rotary motor based on a combination of tolerances of the first and second rotary motors and the transmission.

11. The apparatus of claim 1 further comprising: a first power amplifier coupled to drive at least the first rotary motor and a second power amplifier coupled to drive the second rotary motor; a position sensor indicating a position of the transmission; and control circuitry coupled to the position sensor and the first and second power amplifiers and configured to operate the power amplifiers to drive the first and second rotary motors based on the position indication of the position sensor.

12. The apparatus of claim 9 wherein the position sensor comprises a rotary position sensor coupled to the first rotary motor and the position of the second rotary motor is inferred from the position of the first rotary motor.

13. The apparatus of claim 11 wherein the position sensor comprises a first rotary position sensor coupled to the first rotary motor and a second rotary position sensor coupled to the second rotary motor.

14. The apparatus of claim 1 further comprising: a sensor indicating movement of the transmission; and control circuitry receiving a force command and configured to: compute a compensation force based on a reflected inertia of the transmission and an acceleration computed from the sensor, compute a total force from the force command and the compensation force, and operate the first and second motors based on the total force.

15. The apparatus of claim 1 further comprising: a sensor indicating force output of the transmission; and control circuitry receiving a force command and the indicated force output and configured to modify a control command provided to the first and second motors based on a difference between the force command and the indicated force output.

16. The apparatus of claim 1 further comprising: a bellows surrounding a portion of the transmission extending external to the first and second rotary motors at a first end of the apparatus and sealing an interior of the first and second rotary motors from a surrounding environment; wherein the transmission comprises a channel running through an output shaft and coupling fluid from the bellows to a volume at a second end of the apparatus.

17. The apparatus of claim 1 further comprising bumpers located along an axis of the output shaft and configured to transfer energy from the output shaft into a surrounding structure when the output shaft is maximally retracted or extended such that at least some energy from the output shaft is not coupled to the surrounding structure through the first or second motors.

18. The apparatus of claim 1 further comprising an automobile suspension coupling a wheel assembly to a sprung mass, the suspension comprising: an active suspension element coupled to the wheel assembly and the sprung mass, the active suspension element comprising: the first rotary motor; the second rotary motor; and the transmission coupled to the first and second rotary motors.

19. The suspension of claim 18 further comprising linkages coupled to the wheel assembly and sprung mass to control the geometry of relative motion between the wheel assembly and the sprung mass.