Patent ID: 7431676

Claim:
A self-contained integrated actuator combining a prime mover and gear train for yielding a compact rotary actuation torque within a larger system, comprising: a cross-roller bearing for operating as a structural joint in the larger system of which said self-contained integrated actuator is a part; an outer attachment shell for rigidly interfacing the larger system and containing a motor stator and an internal bull gear, said motor stator for generating a controllable electromagnetic field, and said internal bull gear for interfacing said cross-roller bearing and providing stiffness for said self-contained integrated actuator, and further comprising a plurality of internal gear teeth; an output attachment plate for containing an internal ring gear and supporting a plurality of drive shaft bearings, said internal ring gear for rigidly interfacing said output attachment plate and further comprising a plurality of internal gear teeth, said cross-roller bearing further for positioning said output attachment plate within said outer attachment shell; a drive shaft for holding a prime mover rotor and an eccentric and associating with said output attachment plate via said plurality of drive shaft bearings, said prime mover rotor for rotating in response to said controllable electromagnetic field and said eccentric; said gear train associated with said eccentric and comprising said meshing gear, wherein said meshing gear further includes a plurality of external gear teeth, said external gear teeth comprising circular arc surfaces for meshing with said plurality of internal gear teeth of said internal bull gear and said plurality of internal gear teeth of said internal ring gear, said gear train for walking a minimal number of said plurality of external gear teeth for each rotation of said prime mover rotor, said cross-roller bearing, said outer attachment shell, said drive shaft, and said meshing gear train cooperating for providing a self-contained integrated actuation torque transmitting force from said prime mover through said gear train along a shortest-possible transmission path.