Abstract: An internal gear pump or motor includes inner and outer rotors that mesh together. An internal electric motor or generator may include a stator supported by a support element that passes through bearings of the outer rotor and the inner rotor may act as a rotor of the electric motor or generator. With or without the stator, the support element may support bearings of the inner rotor. The support element may be, for example, an eccentric shaft. Fluids may be supplied via the support element, if present, for cooling, lubrication or to flush a working fluid out of portions of the pump or motor, such as bearings. Flushing may also occur via channels in the housing with or without the presence of the support element. Axial faces of one of a pair of adjacent elements, for example the inner rotor and the outer rotor, may include portions for improved axial sealing and wearing in of the other of the pair. Fluid may enter and exit chambers between the inner and outer rotors by radial ports.

Abstract: An energy transfer machine includes a piston and cylinder. The piston can have a rocking motion as it enters and exits the cylinder, for example due to one being on a rotor and the other on a stator. The piston and cylinder form a primary chamber, and as they move relative to each other can form a seal separating the primary chamber into first and second sub-chambers which then unseals before the piston exits the cylinder. The first sub-chamber may reach a maximum geometric compression ratio, for example for the purpose of compression ignition, before the unsealing of the sub-chambers.

Abstract: A positive displacement gear pump or gear hydraulic motor having at least a first rotor with first rotor teeth and a second rotor with second rotor teeth, the first rotor teeth meshing with the second rotor teeth. First rotor chambers are defined between first rotor teeth and second rotor chambers are defined between the second rotor teeth. As the rotors mesh, the first rotor chambers, second rotor chambers or both become enclosed or substantially enclosed to form what are referred to here as secondary chambers. Pressure variations in a secondary chamber are relieved by internal flow channels in the first rotor, second rotor or both, creating a fluid connection between the first rotor chambers and the second rotor chambers. The first rotor may be an internal gear rotor or both rotors may be external gear rotors.

Abstract: An energy transfer machine includes a piston and cylinder. The piston can have a rocking motion as it enters and exits the cylinder, for example due to one being on a rotor and the other on a stator. The piston and cylinder form a primary chamber, and as they move relative to each other can form a seal separating the primary chamber into first and second sub-chambers which then unseals before the piston exits the cylinder. The first sub-chamber may reach a maximum geometric compression ratio, for example for the purpose of compression ignition, before the unsealing of the sub-chambers.

Abstract: An internal gear pump or motor includes inner and outer rotors that mesh together. An internal electric motor or generator may include a stator supported by a support element that passes through bearings of the outer rotor and the inner rotor may act as a rotor of the electric motor or generator. With or without the stator, the support element may support bearings of the inner rotor. The support element may be, for example, an eccentric shaft. Fluids may be supplied via the support element, if present, for cooling, lubrication or to flush a working fluid out of portions of the pump or motor, such as bearings. Flushing may also occur via channels in the housing with or without the presence of the support element. Axial faces of one of a pair of adjacent elements, for example the inner rotor and the outer rotor, may include portions for improved axial sealing and wearing in of the other of the pair.

Abstract: An energy transfer machine includes a piston and cylinder. The piston can have a rocking motion as it enters and exits the cylinder, for example due to one being on a rotor and the other on a stator. The piston and cylinder form a primary chamber, and as they move relative to each other can form a seal separating the primary chamber into first and second sub-chambers which then unseals before the piston exits the cylinder. The first sub-chamber may reach a maximum geometric compression ratio, for example for the purpose of compression ignition, before the unsealing of the sub-chambers.

Abstract: A torque transfer device has plural planets arranged for planetary rotation about one or more sun gears and within one or more ring gears. Each planet includes at least one planetary gear set comprising plural planetary gears connected to rotate together, but having a different diameter to form a differential gear system. To improve load sharing, the plural planetary gears of each planetary gear set may have a different helical angle, the plural planetary gear sets being axially movable with respect to one another. Alternatively or in addition, the planetary gears may be made flexible with respect to radial forces.

Abstract: A displacement device including an inner rotor and an outer rotor with meshing projections. Points on each rotor trace a hypotrochoidal path relative to the other. The tips of the outer rotor projections may contact the inner rotor at Top Dead Center (TDC) and Bottom Dead Center (BDC) to form higher and lower pressure regions. Various elements may shape other elements to form seals.

Abstract: A displacement device including an inner rotor and an outer rotor with meshing projections. Points on each rotor trace a hypotrochoidal path relative to the other. The tips of the outer rotor projections may contact the inner rotor at Top Dead Center (TDC) and Bottom Dead Center (BDC) to form higher and lower pressure regions. Various elements may shape other elements to form seals.

Abstract: A planetary gearbox with two rows of planets, at least some of the planets including magnets. The planets are driven by a stator to drive the gearbox as a motor. The planets may be geared with axial portions with different helix angle to position the gears and avoid the need for a planet carrier or bearings. Gears with small heights and/or high pressure angles may be used to avoiding or reduce negative effects of conventional gearing.

Abstract: A torque transfer device has a ring gear and inner and outer planet gear sets, which may not be orbiting but rotating in fixed positions relative to a housing. One of the gear sets may comprise compound gears. There may also be a sun gear connected to a planet gear set. The sun gear may be an input and the ring gear an output for a reducing gear system to act as a torque amplifier. The gears may be tapered and there may also be an axial force applied to one of the gear sets to tighten the meshing between the tapered gears. One of the gear sets, for example a gear set to which an axial force is applied, may be floating.

Abstract: A planetary gearbox with two rows of planets between an inner race and a coaxial outer race. An input gear may also mesh with the inner planets or the outer planets. To avoid unmeshing of the gears due to twisting from the applied torque, a camming effect may be used in which applied torque generates a radial preload. The gears that mesh with the input gear may do so at portions of the gears that also mesh with a corresponding one of the inner or outer race. The planets may be geared with axial portions with different helix angle. The inner race or outer race may be formed of two components geared with different helix angle to mesh with the different axial portions of the planets. By using these different components, assembly is eased as the components can be slid onto the planets axially.

Abstract: A spring for a spring shoe, the spring including a conical disk, the conical disk having a flexible flange around the perimeter of the conical disk. A spring comprising a conical disk and a ring spring around the conical disk, the ring spring being movable up and down relative to the conical disk to adjust the spring force of the spring. A threaded engagement between the ring spring and the conical disk so that rotation of the conical disk moves the ring spring up or down relative to the conical disk. A damper ring around the perimeter of the conical disk to resist the expansion of the circumference of the conical disk. An eccentric ring or cam to adjust the position of the apex of the conical disk relative to an insole by rotating the eccentric ring or cam. An asymmetric conical disk to adjust the position of the apex of the conical disk by rotating the conical disk. A damper for a spring shoe comprising a flexible container containing a material with little or no propensity to return to its original shape.

Abstract: A high speed ratio drive system is formed of planet rollers, each having varying diameter, an outer fixed ring in contact with one diameter of the planet rollers, and an outer drive ring in contact with another diameter of the planet rollers. An inner drive element is provided by a sun drive roller in contact with the planet rollers or by a planet carrier. Preferably the system has an axial reflective symmetry minimizing twisting forces on the planet rollers.

Abstract: The present disclosure provides position detector for an electric machine. The detector uses one or more proximity sensors, such as eddy current sensors, to detect features on the rotor of an electric machine. The detectable feature may be a spiral groove, which has a unique position at any given point around the circumference of the rotor. As the rotor is typically steel, the proximity sensors produce different output values depending on the degree to which they are aligned with the groove. As such, given that the groove has a unique position at any given location, the output of the proximity sensors is also unique for any given position. This enables the position of the rotor with respect to the sensors to be determined.

Abstract: Robot arms and methods of controlling robot arms. In an example, a hand control is located on a robot arm and provides translation and/or rotation control of actuators that may for example rotate in unison. In another example, a hand control on a robot arm is also provided at an end effector, which may control actuators in the robot arm for example by having the actuators rotate together or oppositely in unison. In a further example, a hand control situated on a robot arm between actuators controls upstream and downstream actuators with different control strategies. In a master slave example, actuators in a master robot control actuators in a slave robot, and the actuators may be provided at an angle and be arranged to hold position in normal operation when unpowered. Nonbackdrivability is also provided by providing sufficient friction between stator and rotor in actuators of a robot arm. In a Scara robot, a fixed part of a base is secured to a floor, while a moving end is supported by a bearing element.

Abstract: A magnetic brake for a motor uses the magnetic force on the surface of a flux concentrating rotor to pull a flexible brake spring or friction sheet into friction contact with the rotor. An electromagnetic stator pulls the flexible brake spring or friction sheet away from the rotor when it is energized. The brake spring may be a variable thickness around the circumference in a radial flux motor or radially in an axial flux motor and is thicker near where it is fixed to the housing. The brake spring may be split so it can clamp down on the rotor symmetrically. The OD of the brake spring may be closer to the surrounding stator near the fixed section of the brake spring so the air gap to the brake stator is smaller and the gap to the rotor and the ID of the brake spring is larger to allow the brake stator to pull on this area with greater force initially when it is energized to disengage the brake.

Abstract: A carrier for an electric machine has a first layer and plural first posts extending from the first layer. The first layer defines gaps through the first layer adjacent to the plural first posts. One or more inserts have insert posts configured to be inserted through the gaps to combine with the plural first posts to widen the plural first posts. A carrier may also have a first layer, plural first posts extending from the first layer, the first layer defining gaps through the first layer intermediate between successive posts of the plural posts. One or more inserts have insert posts configured to be inserted through the gaps to form an array of posts in combination with the plural first posts.

Abstract: A planetary gearbox with two rows of planets between an inner race and a coaxial outer race. An input gear may also mesh with the inner planets or the outer planets. To avoid unmeshing of the gears due to twisting from the applied torque, a camming effect may be used in which applied torque generates a radial preload. The gears that mesh with the input gear may do so at portions of the gears that also mesh with a corresponding one of the inner or outer race. The planets may be geared with axial portions with different helix angle. The inner race or outer race may be formed of two components geared with different helix angle to mesh with the different axial portions of the planets. By using these different components, assembly is eased as the components can be slid onto the planets axially.