Locking compound rotary actuator

1. A method of locking a linear actuator, the method comprising:

receiving torque at a first sun gear of a first epicyclic gear assembly;

transmitting torque from the first sun gear to a first ring gear of the first epicyclic gear assembly through a first planet gear assembly of the first epicyclic gear assembly;

transmitting torque from the first planet gear assembly to a screw;

urging movement of a linear output member through a nut configured for linear motion based on rotation of the screw;

transmitting torque from the first ring gear to a second sun gear of a second epicyclic gear assembly; and

transmitting torque from the second sun gear to a second planet gear engaged between the second sun gear and a second ring gear.

2. The method of claim 1 , further comprising urging radial displacement of a lock key from a first lock key configuration to a second lock key configuration based on linear movement of the linear output member.

3. The method of claim 2 , further comprising:

contacting, based on movement of the linear actuator, the lock key with an axial groove face of a groove defined in the linear output member and configured to receive the lock key in the first lock key configuration;

preventing linear movement of the linear output member based on interference between the lock key and the axial groove face;

preventing rotation of the screw based on the prevented linear movement of the linear output member;

preventing rotation of the first planet gear assembly based on the prevented rotation of the screw; and

transmitting substantially all torque received at the first sun gear to the first ring gear.

4. The method of claim 1 , further comprising:

transmitting torque from the second planet gear to a lock rotor; and

rotating the lock rotor from a first lock rotor configuration to a second lock rotor configuration.

5. The method of claim 4 , wherein the first lock rotor configuration is a first rotational position defined by a first lock rotor end stop configured to interfere with rotation of the lock rotor in a first direction, and the second lock rotor configuration is a second rotational position defined by a second lock rotor end stop configured to interfere with rotation of the lock rotor in a second direction opposite the first direction.

6. The method of claim 4 , wherein the lock rotor is configured to prevent radial displacement of a lock key from a first key configuration to a second key configuration in the first lock rotor configuration, and is configured to permit radial displacement of the lock key from the first key configuration to the second key configuration in the second lock rotor configuration.