Patent ID: 8876648

Claim:
A planetary belt transmission, comprising: a structure supporting a motor drive, said motor drive having a motor drive shaft; a distributing pulley at least indirectly attached to the motor drive shaft; a collecting pulley attached to an output shaft; two or more distributing belts coupled to the distributing pulley from mutually opposite radial directions; two or more collecting belts coupled to the collecting pulley from said mutually opposite radial directions; two or more concentric pairs of first and second transmitting pulleys located around the distributing pulley and the collecting pulley, the respective first transmitting pulley in each pair being coupled to the distributing pulley via the distributing belts and the respective second transmitting pulley in each pair being coupled to the collecting pulley via the collecting belts; two or more peripheral shafts each supporting a respective one of said pairs of transmitting pulleys, each of the peripheral shafts passing through elongated openings in said structure so as to allow movement in a respective one of said mutually opposite radial directions only relative to the output shaft; and wherein, said peripheral shafts are preloaded in said mutually opposite radial directions by two or more preload elements that are configured to stretch the distributing belts and the collecting belts via the pairs of transmitting pulleys so as to apply a net radial force approaching zero on to the distributing pulleys and the collecting pulleys.