Actuator with a parallel eccentric gear train driven by a mechanically amplified piezoelectric assembly

1. An actuator, comprising:

a parallel eccentric gear train;

a prime mover having an assembly of piezoelectric elements, wherein the assembly of piezoelectric elements drives said gear train, and wherein the assembly of piezoelectric elements forms a mechanical amplifier; and

a crankshaft which is driven by said parallel eccentric gear train.

2. The actuator of claim 1 , wherein said crankshaft is equipped with first and second eccentrics.

3. The actuator of claim 2 , further comprising:

first and second parallel eccentric gears which are oscillated 180° out-of-phase by said first and second eccentrics.

4. The actuator of claim 1 , further comprising:

an internal gear which is driven by said first and second parallel eccentric gears.

5. The actuator of claim 4 , further comprising at least one rotation prevention element which prevents the rotation of said first and second parallel eccentric gears.

6. The actuator of claim 5 , wherein said at least one rotation prevention element comprises first and second crosslinks.

7. The actuator of claim 6 , wherein said first and second crosslinks mesh with said first and second parallel eccentric gears, respectively.

8. The actuator of claim 7 , wherein said first and second crosslinks mesh with said first and second parallel eccentric gears by way of a plurality of tongue and groove surface features collectively defined on the surfaces of said first and second crosslinks and said first and second parallel eccentric gears.

9. The actuator of claim 7 , wherein said first and second crosslinks are Oldham couplings.

10. The actuator of claim 1 , wherein said actuator is devoid of rolling element bearings.

11. The actuator of claim 1 , wherein each of said plurality of piezoelectric elements has a major dimension of at least 0.375 inches.

12. The actuator of claim 1 , wherein said crankshaft includes a rotor, wherein said rotor has first and second eccentrics disposed on a surface thereof.

13. The actuator of claim 1 , further comprising an output gear and first and second opposing endplates, wherein said output gear is disposed about the periphery of said first and second opposing endplates.

14. The actuator of claim 1 , further comprising first and second eccentric gears, wherein each of said first and second eccentric gears has a peripheral surface with a plurality of gear teeth defined therein.

15. The actuator of claim 1 , further comprising first and second parallel eccentric gears, first and second eccentrics and an output gear, wherein said first parallel eccentric gear is disposed between said first eccentric and said output gear and meshes with said output gear, and wherein said second parallel eccentric gear is disposed between said second eccentric and said output gear and meshes with said output gear.

16. The actuator of claim 1 , further comprising first and second endplates, first and second crosslinks and first and second eccentric gears, wherein said first crosslink engages said first endplate and said first eccentric gear by way of a first set of surface features, and wherein said second crosslink engages said second endplate and said second eccentric gear by way of a second set of surface features.

17. The actuator of claim 1 , wherein each of said plurality of piezoelectric elements is contained in a piezoelectric disk.

18. The actuator of claim 1 , further comprising first and second parallel, spaced apart endplates, wherein each of said plurality of piezoelectric elements is disposed between said first and second endplates.

19. The actuator of claim 1 , wherein said mechanical amplifier amplifies a displacement of the second set of piezoelectric elements contained therein.

20. The actuator of claim 1 , wherein said prime mover includes a first set of piezoelectric elements and a second set of piezoelectric elements, wherein the first set of piezoelectric elements drives said gear train, and wherein the second set of piezoelectric elements forms a mechanical amplifier that drives the first set of piezoelectric elements.