Patent ID: 7081062
Filing Date: 2006-07-25
Classification: F16H,H02K,Y02T

Abstract:
1. A rotary actuator comprising: an actuator shell; an eccentric cage, disposed within the actuator shell; a prime mover having a first prime mover portion rigidly fixed to the actuator shell and a second prime mover portion, rotatable with respect to the first prime mover portion, rigidly fixed to the eccentric cage, and capable of exerting a torque on the first prime mover portion; a cross-roller bearing having a first bearing portion rigidly fixed to the actuator shell and a second bearing portion, free in rotation with respect to the first bearing portion; an output attachment plate rigidly fixed to the second bearing portion; a shell gear rigidly fixed to the actuator shell; an output gear rigidly fixed to the output attachment plate; an eccentric, disposed about the eccentric cage, having a first gear portion meshed to the shell gear and a second gear portion, adjacent to the first gear portion, meshed to the output gear; a first structural link rigidly attached to the actuator shell using by quick-change attachment structure; and a second structural link rigidly attached to the output attachment plate by quick-change attachment structure.