Abstract: In general, this disclosure involves a pulley system that includes a plurality of fixed sheaves arranged in a first annulus and a plurality of traveling sheaves arranged in a second annulus. The plurality of traveling sheaves are configured to travel along an axis of travel and are coupled to an output shaft configured to pass through the first annulus and translate along the axis of travel. The plurality of traveling sheaves are aligned with the plurality of fixed sheaves such that at least half of a plurality of spans between the plurality of traveling sheaves and the plurality of fixed sheaves are parallel spans that are parallel with the axis of travel. A flat belt extends between and around the plurality of fixed sheaves and the plurality of traveling sheaves, the flat belt including a plurality of twists along the parallel spans to form a plurality of twisted spans.

Abstract: In general, this disclosure involves a pulley system that includes a plurality of fixed sheaves arranged to at least partially encircle an output shaft, a plurality of traveling sheaves coupled to the output shaft. The output shaft can be configured to pass through the fixed sheaves and translate along an axis of travel and the plurality of traveling sheaves can be arranged such that a geometric average of belt tension created by spans of belt between the plurality of traveling sheaves and the plurality of fixed sheaves is approximately coincident with a centerline of the output shaft. The system further includes a belt extending between and around the plurality of fixed sheaves and the plurality of traveling sheaves such that the belt flexes toward a single surface of the belt.

Abstract: In general, the disclosure involves a joint system and a tension transmission system. The joint system includes a sheave that rotates about an axis, a first tension member at least partially wrapped around the sheave in a first direction creating an angle between the direction of entry of the tension member onto the sheave and the direction of exit of the tension member off the sheave, a roller mounted to the sheave at the axis and configured to roll along a frame, and a second tension member that includes a first end and a second end. The second tension member can be partially wrapped around the roller in a second direction opposite the first direction, and the first end affixed to the roller and the second end affixed to the frame.

Abstract: This disclosure describes techniques for a self-aligning system within a belt-driven linear actuator that enables a “keyless” or “round profile” piston to be sealed while maintaining an aligning and/or torque resisting ability. This enables the airspaces within the electromechanical actuator could be pressurized to perform a secondary load holding function that is redundant to the linear screw device.

Abstract: The present disclosure involves a belt drive mechanism which can be used to pay out or draw belt to or from a belt actuated system (or belt driven system). The mechanism features a self-winding spool which can automatically wind or unwind portions of the belt as they are withdrawn from, or fed to the belt actuated system. A second rotational axle (idler shaft), with one or more sheaves (e.g., pulley's or rollers) can be rotationally coupled to a capstan via a belt, and can be utilized to drive additional mechanisms in the belt drive mechanism, such as a winding mechanism.

Abstract: In general, the disclosure involves a joint system and a tension transmission system. The joint system includes a sheave that rotates about an axis, a first tension member at least partially wrapped around the sheave in a first direction creating an angle between the direction of entry of the tension member onto the sheave and the direction of exit of the tension member off the sheave, a roller mounted to the sheave at the axis and configured to roll along a frame, and a second tension member that includes a first end and a second end. The second tension member can be partially wrapped around the roller in a second direction opposite the first direction, and the first end affixed to the roller and the second end affixed to the frame.

Abstract: This disclosure describes a battery management system that can balance a string of battery cells rapidly, at high power, and without the use of a large auxiliary battery or excessive switches/transistors. A single switched tap is provided at each intermediate node of the battery string, allowing charging and discharging of subsets of the battery string (e.g., cell 1, cells 1 and 2, cells 1-3, etc.). A common charge/discharge (CCD) node can be connected to any one of the intermediate nodes, resulting in a parallel connection with the battery string for each cell at or below the connected intermediate node in the string. A sink is provided which can be used to discharge groups of cells using the connected intermediate node. Additionally, a source can be provided, such as a buck-boost chopper acting as a current supply, to charge the group of cells using the connected intermediate node.

Abstract: In general, this disclosure involves a pulley system that includes a plurality of fixed sheaves arranged to at least partially encircle an output shaft, a plurality of traveling sheaves coupled to the output shaft. The output shaft can be configured to pass through the fixed sheaves and translate along an axis of travel and the plurality of traveling sheaves can be arranged such that a geometric average of belt tension created by spans of belt between the plurality of traveling sheaves and the plurality of fixed sheaves is approximately coincident with a centerline of the output shaft. The system further includes a belt extending between and around the plurality of fixed sheaves and the plurality of traveling sheaves such that the belt flexes toward a single surface of the belt.

Abstract: This disclosure relates to methods and apparatuses of employing belts for an angular drive. A twisted geometry is applied to a first free span of the belt. A sheave supports the first free span of the belt at a first extremity of the first free span and sheave is at least one of positioning and orienting the rotating sheave or the driven sheave so as to misalign a geometric centerline of the first free span of belt at a given fleet angle with respect to a second extremity of the first free span.

Abstract: Disclosed herein are methods, systems, and components for the design of a flat belt based block and tackle design that is theoretically free of fleet angles. A mapping technique forms a set of planar positions for the centerlines of the free spans that provides a plurality of sheave geometries, which reside on a common axis and spans that are free of fleet angles at the sheave engagement interfaces. This permits the use of high-performing flat belts in high-reduction block and tackle topologies, with the principal benefits of an extended service life, high power transmission efficiency, more effective traction power transfer, and a compact machine design.

Abstract: In general, this disclosure involves a pulley system that includes a plurality of fixed sheaves arranged in a first annulus and a plurality of traveling sheaves arranged in a second annulus. The plurality of traveling sheaves are configured to travel along an axis of travel and are coupled to an output shaft configured to pass through the first annulus and translate along the axis of travel. The plurality of traveling sheaves are aligned with the plurality of fixed sheaves such that at least half of a plurality of spans between the plurality of traveling sheaves and the plurality of fixed sheaves are parallel spans that are parallel with the axis of travel. A flat belt extends between and around the plurality of fixed sheaves and the plurality of traveling sheaves, the flat belt including a plurality of twists along the parallel spans to form a plurality of twisted spans.

Abstract: In general, this disclosure involves a pulley system that includes a plurality of fixed sheaves arranged in a first annulus and a plurality of traveling sheaves arranged in a second annulus. The plurality of traveling sheaves are configured to travel along an axis of travel and are coupled to an output shaft configured to pass through the first annulus and translate along the axis of travel. The plurality of traveling sheaves are aligned with the plurality of fixed sheaves such that at least half of a plurality of spans between the plurality of traveling sheaves and the plurality of fixed sheaves are parallel spans that are parallel with the axis of travel. A flat belt extends between and around the plurality of fixed sheaves and the plurality of traveling sheaves, the flat belt including a plurality of twists along the parallel spans to form a plurality of twisted spans.

Abstract: This disclosure describes techniques for a self-aligning system within a belt-driven linear actuator that enables a “keyless” or “round profile” piston to be sealed while maintaining an aligning and/or torque resisting ability. This enables the airspaces within the electromechanical actuator could be pressurized to perform a secondary load holding function that is redundant to the linear screw device.

Abstract: In general, this disclosure involves a pulley system that includes a plurality of fixed sheaves arranged in a first annulus and a plurality of traveling sheaves arranged in a second annulus. The plurality of traveling sheaves are configured to travel along an axis of travel and are coupled to an output shaft configured to pass through the first annulus and translate along the axis of travel. The plurality of traveling sheaves are aligned with the plurality of fixed sheaves such that at least half of a plurality of spans between the plurality of traveling sheaves and the plurality of fixed sheaves are parallel spans that are parallel with the axis of travel. A flat belt extends between and around the plurality of fixed sheaves and the plurality of traveling sheaves, the flat belt including a plurality of twists along the parallel spans to form a plurality of twisted spans.

Abstract: In general, this disclosure involves a pulley system that includes a plurality of fixed sheaves arranged to at least partially encircle an output shaft, a plurality of traveling sheaves coupled to the output shaft. The output shaft can be configured to pass through the fixed sheaves and translate along an axis of travel and the plurality of traveling sheaves can be arranged such that a geometric average of belt tension created by spans of belt between the plurality of traveling sheaves and the plurality of fixed sheaves is approximately coincident with a centerline of the output shaft. The system further includes a belt extending between and around the plurality of fixed sheaves and the plurality of traveling sheaves such that the belt flexes toward a single surface of the belt.

Abstract: Flat belt apparatuses and methods are provided where one or more cords in the flat belt are tensioned or pre-tensioned to extend the service life of the flat belt.

Abstract: This disclosure describes techniques for a self-aligning system within a belt-driven linear actuator that enables a “keyless” or “round profile” piston to be sealed while maintaining an aligning and/or torque resisting ability. This enables the airspaces within the electromechanical actuator could be pressurized to perform a secondary load holding function that is redundant to the linear screw device.

Abstract: This disclosure relates to methods and apparatuses of employing belts for an angular drive. A twisted geometry is applied to a first free span of the belt. A sheave supports the first free span of the belt at a first extremity of the first free span and sheave is at least one of positioning and orienting the rotating sheave or the driven sheave so as to misalign a geometric centerline of the first free span of belt at a given fleet angle with respect to a second extremity of the first free span.

Abstract: Disclosed herein are methods, systems, and components for the design of a flat belt based block and tackle design that is theoretically free of fleet angles. A mapping technique forms a set of planar positions for the centerlines of the free spans that provides a plurality of sheave geometries, which reside on a common axis and spans that are free of fleet angles at the sheave engagement interfaces. This permits the use of high-performing flat belts in high-reduction block and tackle topologies, with the principal benefits of an extended service life, high power transmission efficiency, more effective traction power transfer, and a compact machine design.

Abstract: Disclosed herein are methods, systems, and components for the design of a flat belt based block and tackle design that is theoretically free of fleet angles. A mapping technique forms a set of planar positions for the centerlines of the free spans that provides a plurality of sheave geometries, which reside on a common axis and spans that are free of fleet angles at the sheave engagement interfaces. This permits the use of high-performing flat belts in high-reduction block and tackle topologies, with the principal benefits of an extended service life, high power transmission efficiency, more effective traction power transfer, and a compact machine design.