Abstract: A rotary mechanism includes: an earth annulus, an output annulus, a radially inner bearing race formed on or by one of the earth annulus and the output annulus, a radially outer bearing race partially formed on or by the other of the earth annulus and the output annulus, an opening in the other of the earth annulus and the output annulus, and a removable cap configured to be received by the other of the earth annulus and the output annulus to form a raceway with the radially inner bearing race and the radially outer bearing race and to close the opening. The raceway extends circumferentially and between the earth annulus and the output annulus. The earth annulus is rotatable relative to the output annulus. A plurality of bearings is received in the raceway and is insertable into and removable from the raceway via the opening when the cap is removed.

Abstract: A rotary actuator assembly for moving a first relatively movable part relative to a second relatively movable part. The assembly includes: a rotary actuator having a plurality of annular earth members for attachment to one of the first and the second relatively movable parts and one or more annular output members for attachment to the other of the first and second relatively movable parts. The annulus of the earth members and the one or more output members are coaxial defining a lumen through the rotary actuator along an actuator axis A. The assembly also includes at least one rotary motor arranged to rotate the annular output member relative to the annular earth members, about the actuator axis A. The rotary actuator also includes a rod extending through the lumen and extending axially beyond the earth members.

Abstract: An actuator includes an input shaft, a wave generator, a pair of flex splines, a pair of earth annuli, and an output annulus. Each of the pair of flex splines are earthed to an earth annulus. The output annulus comprises a circular spline. The wave generator is configured to be activated by rotation of the input shaft, and the wave generator is configured to elastically deform both of the pair of flex splines when the input shaft activates the wave generator.

Abstract: A strain wave gearing system is includes: wave generator; a rigid spline; a flex spline disposed between the wave generator and the rigid spline; and a coupling element. The flex spline comprises a first mating element. The coupling element comprises a second mating element. The coupling element and the flex spline are mated by cooperation of the first mating element and the second mating element so as to prevent rotational motion of the flex spline relative to the coupling element. The first mating element is movable relative to the second mating element to thereby permit deformation of the flex spline relative to the coupling element.

Abstract: A locking mechanism comprises an S-shaped locking member which comprises respective locking hooks arranged at the end of opposed arms of the locking member. A pivot is arranged between the arms of the locking member. The locking member rotates around the axis (A) of the pivot. The locking mechanism further comprises a coupling for coupling the locking member to an actuator for rotating the locking member around the pivot axis (A). The coupling comprises at least one coupling element, an actuator coupling for coupling the at last one coupling element to the actuator and first and second drive couplings for coupling the at least one coupling element independently to each arm of the locking member for transmitting rotational movement thereto, such that failure of one arm of the locking member will not cause loss of drive to the other arm of the locking member.

Abstract: A locking mechanism includes a locking member moveable in an axial direction A between a first position and a second position. The locking mechanism is able to lock the system when the locking member is in the first position and not to lock the system when the locking member is in the second position. The locking mechanism comprises an actuator for moving the locking member between the first position and the second position, and a housing that houses the locking member and the actuator. The actuator comprises a piston that is static relative to the housing and a cylinder that is moveable relative to the housing, and the cylinder forms at least a part of the locking member. The locking mechanism is configured to lock the system by absorbing bending forces F applied to the locking member by the system when the locking member is in the first position.