Patent ID: 6435995
Filing Date: 2002-08-20
Classification: F16H

Abstract:
A drive for an inverse kinematics device with two parallel axles moved in opposing directions and non-uniformly rotating, the axles having an angular relationship oftan&phgr;1, =Â½ tan &phgr;2 and the drive is supplied from outside with power by at least one essentially uniformly rotating axle, whereineach of the axles carries an oval wheel, whose ovality corresponds to the angular relationship and which is firmly fixed to the associated axle and the periphery is designed for the positive acceptance of a traction element; at least one uniformly rotating wheel, driven from outside, is present, whose periphery is designed for the positive acceptance and drive of the traction element, two traction elements are present for the transmission of turning moments and power from the at least one wheel onto the oval wheels; and each drive line comprising said rotating wheel, traction element and oval wheel contains an elastic element, which can at least compensate for any impairment of the constancy of peripheral velocity of the oval wheels brought about by the misalignment of the traction elements, the elastic elements are arranged between the at least one uniformly rotating wheel and non-uniformly rotating oval wheels.