Patent ID: 7122926

Claim:
A rotary actuator comprising: a fixed structure; a first prime-mover having a first portion fixed to the fixed-structure; and a second portion rotationally movable with respect to the first portion; a second prime mover, having substantially identical performance characteristics to the first prime mover, having a first portion fixed to the fixed structure, and a second portion rotationally movable with respect to the first portion; a first gearset having an input-portion connected to the second portion of the first prime mover and an output portion; a second gearset, having substantially identical performance characteristics to the first gearset, having an input connected to the second portion of the second prime mover and an output portion; a first clutch having an input portion connected to the output portion of the first gearset and an output portion; a second clutch having an input portion connected to the output portion of the second gearset and an output portion; an actuator output rotationally fixed to the output portion of the first clutch and the output portion of the second clutch.