Simplified parallel eccentric rotary actuator

1. A rotary actuator, comprising:

first and second opposing endplates;

a stator having a first end which is attached to said first endplate, and a second end which is attached to said second endplate;

a rotor having a first eccentric on a surface thereof;

an output gear disposed about the periphery of said first and second opposing endplates;

a first parallel eccentric gear which is disposed between said first eccentric and said output gear and which meshes with said output gear across a first mesh;

a first crosslink which engages said first endplate and said first eccentric gear by way of a first set of surface features; and

a star compound gear train which includes a star gear which is in mesh with said output gear across a second mesh;

wherein said first mesh is radially separated from said second mesh across an open space.

2. The rotary actuator of claim 1 , wherein said rotor has a second eccentric on a surface thereof, and further comprising:

a second parallel eccentric gear which is disposed between said second eccentric and said output gear and which meshes with said output gear; and

a second crosslink which meshes with said second endplate and said second eccentric gear by way of a second set of surface features.

3. The rotary actuator of claim 1 , wherein said first and second eccentric gears are adjacent to each other.

4. The rotary actuator of claim 2 , wherein said first crosslink is disposed between said first eccentric gear and said first endplate, and wherein said second crosslink is disposed between said second eccentric gear and said second endplate.

5. The rotary actuator of claim 1 , wherein said stator has a first end which is rigidly attached to said first plate, and a second end which is rigidly attached to said second plate.

6. The rotary actuator of claim 2 , wherein said first and second sets of surface features are selected from the group consisting of tongues and grooves, wherein each of said first and second crosslinks have first and second sets of grooves on opposing major surfaces thereof, wherein said first set of grooves on said first crosslink engage a first set of tongues on said first endplate, and wherein a second set of grooves on said first crosslink engage a second set of tongues on said first eccentric gear, wherein said first set of grooves on said second crosslink engage a first set of tongues on said second endplate, and wherein a second set of grooves on said second crosslink engage a second set of tongues on said second eccentric gear, and wherein said first set of tongues on said first endplate are disposed on a first major surface of said endplate, and wherein said first set of tongues on said second endplate are disposed on a first major surface of said second endplate.

7. The rotary actuator of claim 2 , further comprising a first principal bearing disposed between said output gear and said first endplate, and a second principal bearing disposed between said output gear and said second endplate, wherein said first principal bearing is seated in a first depression in said first endplate, wherein said second principal bearing is seated in a second depression in said second endplate, wherein said first principal bearing is seated in a third depression in said output gear, and wherein said second principal bearing is seated in a fourth depression in said output gear.

8. The rotary actuator of claim 7 , further comprising a first set of bearing clamps, and wherein said first set of bearing clamps includes a first element of said set which rigidly hold said first principal bearing in said third depression, and a second element of said set which rigidly hold said second principal bearing in said fourth depression.

9. The rotary actuator of claim 2 , wherein said first and second parallel eccentric gears mesh with said output gear.

10. The rotary actuator of claim 3 , wherein said rotor rotates on a first bearing disposed between said rotor and said first endplate, and a second bearing disposed between said rotor and said second endplate.

11. The rotary actuator of claim 1 , further comprising a first eccentric bearing disposed between said first eccentric and said first eccentric gear, and a second eccentric bearing disposed between said second eccentric and said second eccentric gear.

12. The rotary actuator of claim 11 , further comprising a wave spring disposed between said first and second eccentric gears, wherein said wave spring applies separating forces to said first and second eccentric gears, and wherein said forces have vector components in opposing directions which preload all tongue and groove constraints.

13. The rotary actuator of claim 1 , wherein said first and second parallel eccentric gears are equipped with circular arc gear teeth, and wherein said circular arc gear teeth mesh with said output gear.

14. The rotary actuator of claim 1 , further comprising first and second sets of surface features, wherein said first set of surface features prevents said first eccentric gear from rotating, and wherein said second set of surface features prevents said second eccentric gear from rotating.

15. The rotary actuator of claim 1 , wherein said actuator has a crankshaft which includes said stator and said rotor, wherein said crankshaft has a first axis of rotation, and wherein said first and second eccentrics have a second axis of rotation which is offset from said first axis of rotation.

16. The rotary actuator of claim 1 , further comprising a second set of surface features and a second crosslink, wherein said first and second sets of surface features includes a first set of tongues on said first and second crosslinks which mesh with a first set of grooves on said first and second endplates, respectively, and wherein each tongue in said first set of tongues includes a distal surface and a sidewall which intersect at an angle θ, and wherein θ is in the range of 95° to 99°.

17. The rotary actuator of claim 1 , further comprising a second set of surface features and a second crosslink, wherein said first and second sets of surface features includes a second set of tongues on said first and second crosslinks which mesh with a second set of grooves on said first and second eccentric gears, respectively, and wherein each tongue in said second set of tongues includes a distal surface and a sidewall which intersect at an angle θ, and wherein θ is in the range of 95° to 99°.

18. The rotary actuator of claim 1 , wherein said first and second eccentric gears operate 180° out-of-phase.

19. The rotary actuator of claim 1 , wherein said stator forms an external surface of said rotary actuator.

20. An eletromechanical actuator, comprising:

first and second opposing endplates;

an output gear disposed about the periphery of said first and second opposing endplates;

a first parallel eccentric gear which is disposed between said first eccentric and said output gear and which meshes with said output gear across a first mesh;

a second parallel eccentric gear which is disposed between said second eccentric and said output gear and which meshes with said output gear;

a first crosslink which engages said first endplate and said first eccentric gear by way of a first set of surface features;

a second crosslink which meshes with said second endplate and said second eccentric gear by way of a second set of surface features;

a crankshaft having first and second eccentrics thereon which engage said first and second parallel eccentric gears; and

a star compound gear train which includes a star gear which is in mesh with said output gear across a second mesh;

wherein said first mesh is radially separated from said second mesh across an open space.