Multi-input, multi-output actuator and assembly using same

Abstract

To provide an actuator in which reaction torque is subtractive so that a differential torque output can be obtained.SOLUTION: An actuator comprises a motor, a transmission, and a support structure. The motor includes two torque sources for applying a respective input torque to a rotor, whereby the rotor rotates about a rotation axis according to a net input torque. The torque sources are arranged such that input torques are additive, resulting in a vector-summated torque output. Further, the torque sources generate corresponding reaction torque to be applied to a first stator and a second stator. The transmission couples and restricts the first stator and the second stator such that rotary motion of one stator causes reverse rotation of the other stator.SELECTED DRAWING: Figure 4C

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of priority under 35 U.S.C. 119(e) to U.S. patent application Ser. No. 62 / 862,786, filed June 18, 2019, entitled "A Multi-Input, Multi-Output Actuator," and U.S. patent application Ser. No. 62 / 774,813, filed December 3, 2018, entitled "A Multi-Input, Multi-Output Actuator," each of which is incorporated herein by reference in its entirety for all purposes. [Background technology]

[0002] Electric motors are used to convert electricity to provide mechanical power and / or motion in home appliances, power tools, and automotive vehicles. The cost of a typical electric motor depends primarily on the cost of the raw materials used in its manufacture. For example, the rare earth magnets and copper used in the coils of an electric motor typically contribute the largest amount to the overall cost of the motor. To reduce the cost of a mechanical system, it is often desirable to power multiple subsystems using a single motor.

[0003] One well-known approach to using one motor to drive many subsystems is to use gears and / or switches to control which subsystems are driven by the motor. For example, a gearbox coupled to the motor may have multiple gears, with the output of each gear coupled to a different subsystem. In this way, a single motor may be used to drive more than one subsystem, but there is often a restriction that the subsystems are not used simultaneously if the gearbox can only send power to one function at a time.

[0004] 1A-1C illustrate kinematically equivalent actuator assemblies 100a-100c that can be used to simultaneously perform two functions (propulsion and active suspension) in a wheeled vehicle. The actuator assembly 100a in FIG. 1A includes an axial flux motor 120 coupled to a support structure 150. The axial flux motor 120 includes a rotor 121 mounted on a spindle 124. The rotor 121 rotates in response to a torque input applied by a torque source to a first stator 122 and a second stator 123. The spindle 124 is coupled to a reference ground 11 (e.g., via a wheel in contact with the road). The spindle 124 is further coupled to a support structure 150. The support structure 150 is directly coupled to a chassis 12. The chassis 12 includes a joint housing 142 mounted on an arm 144a. The joint housing 142 is slidably adjustable relative to the support structure 150. Additionally, a spring 152 is coupled to the joint housing 142 and the support structure 150 to provide a restoring force for the suspension.

[0005] First stator 122 is coupled to joint housing 142 via link 145a at node 146, and second stator 123 is coupled to joint housing 142 via link 145b at node 147. Links 145a and 145b are coupled to joint housing 142 at node 143. To drive the suspension, a reaction torque is applied to first stator 122 and / or second stator 123. As a result, a force is exerted on chassis 12, causing motor 120 to translate relative to chassis 12 along support structure 150 (e.g., move up and down in FIG. 1A ).

[0006] 1B shows another actuator assembly 100b that both propels and provides active suspension for a vehicle. Again, chassis 12 is directly coupled to axial-flux motor 120 through slots 149a and 149b in arm 144b. Slots 149a and 149b couple to pins mounted on first stator 122 at node 146 and on second stator 123 at node 147.

[0007] 1C shows an alternative actuator assembly 100c that provides propulsion and active suspension. Chassis 12 includes arm 144c. Arm 144c, instead of being coupled to joint housing 142, is coupled to links 145a and 145b at nodes 148a and 148b, respectively. Links 145a and 145b are coupled to first stator 122 and second stator 123 at nodes 146 and 147, respectively, as in FIG. 1A. Summary of the Invention

[0008] The actuator assemblies 100a-100c (collectively, actuator assemblies 100) of FIGS. 1A-1C can rotate a rotor 121 to translate a suspension. The actuator assemblies 100 are primarily used due to their ease of integration, which stems from the direct coupling of the motor 120 output to the chassis 12. However, these actuator assemblies 100 suffer from several drawbacks. First, the actuator assemblies 100 cannot reflect the force / torque between the support structure 150 and the chassis 12 because the reaction torque applied to the first stator 122 and the second stator 123 is dissipated by the chassis 12. In other words, the support structure limits the translational motion of the spindle 124 relative to the chassis. Neither the first stator 122 nor the second stator 123 imposes a torque load on the support structure in the actuator assemblies 100 shown in FIGS. 1A-1C.

[0009] This prevents the actuator assembly 100 from providing any further power output. Second, the actuator assembly 100 is not a self-contained mechanism, but rather relies on integration with the chassis 12 to provide the desired actuation. This means that the chassis 12 must have certain structural features to allow the actuator assembly 100 to operate properly.

[0010] Thus, the present disclosure is directed to actuators that can mirror force / torque and / or are compatible with a wide range of chassis or other reference structures. Exemplary actuators may include motors, transmissions, and support structures (suspensions). A motor may include one or more torque sources that provide an input torque for drive. A transmission may couple and limit the torque sources to modify the resulting output force / torque provided by the actuator. For example, an actuator may provide a total torque output based on the superposition of one or more input torques. As a result, the transmission may couple and limit the torque sources to generate counter-rotational motion. In this manner, an actuator may provide a differential torque output based on the subtraction of one or more input torques.

[0011] The output force / torque from an actuator may be further divided into various component forces / torques. The component forces / torques are applied at one or more nodes that connect the actuator to other subsystems. For example, the output force / torque may include a reflected force / torque applied between the actuator's support structure and the chassis. The reflected force / torque arises in response to an imbalance in the force / torque from other outputs of the actuator. The reflected force / torque may provide further outputs that drive subsystems. For example, the reflected force / torque may be used for anti-dive and / or anti-squat functions in the suspension (e.g., preventing the front of the vehicle from moving downward during forward deceleration and / or the rear of the vehicle from moving downward during forward acceleration).

[0012] Additionally, actuators may provide a mix of outputs of varying magnitude and / or direction based on one or more input torques and / or reaction torques. For example, a transmission may vary the dependence of each output force / torque on the input torque / reaction torque by limiting the range of motion and / or motion ratio of one or more torque sources. Actuators may also incorporate mechanisms to create asymmetric responses between inputs (e.g., a first torque source can drive a second torque source, but the second torque source cannot drive the first torque source).

[0013] In one typical application, the actuator may be part of a vehicle's active suspension system. The actuator may be part of an actuator assembly that includes a chassis coupled to the actuator via a MacPherson strut and a wheel coupled to a motor within the actuator. The wheel is the unsprung mass, and the chassis is the sprung mass. The actuator may include a rocker or sliding joint mechanism that directly couples the motor and / or transmission to the chassis via a component that allows the sprung mass to move relative to the unsprung mass.

[0014] In one embodiment, an actuator for a vehicle includes a support structure connected to a vehicle chassis via a suspension, a transmission coupled to the support structure, and a motor coupled to the support structure and the transmission. The motor includes a rotor rotating about an axis of rotation, a first stator concentric with the axis of rotation, and a second stator concentric with the axis of rotation. The first stator applies a first torque to the rotor and the suspension via the transmission. The second stator applies a second torque to the rotor and the suspension and / or chassis.

[0015] In another embodiment, an actuator assembly for a vehicle includes an axial flux motor with a support structure, a spindle defining a rotational axis and extending through an opening in a housing, a rotor secured to the spindle, a first stator concentric with the rotational axis, and a second stator concentric with the rotational axis, and the actuator assembly also includes a suspension rigidly connected to the support structure and compressibly coupled to a chassis of the vehicle, a torsion bar rotatably coupled to the suspension and rotatably coupled to the first stator and the second stator, and a tension-compression member rotatably coupled to the second stator and rotatably coupled to the chassis.

[0016] In one embodiment, a method of driving at least one of a rotor or a suspension of a vehicle includes the steps of: (1) applying a first torque to a rotor, the rotor configured to rotate about an axis of rotation; (2) applying a second torque to the rotor while applying the first torque; (3) applying a first reaction torque to a first stator configured to rotate about the axis of rotation in response to applying the first torque; (4) applying a second reaction torque to a second stator configured to rotate about the axis of rotation in response to applying the second torque, the second stator coupled to the first stator via a transmission; (5) transferring at least a portion of the first reaction torque from the first stator to the suspension via the transmission; and (6) transferring at least a portion of the second reaction torque from the second stator to at least one of the suspension or a chassis of the vehicle. The chassis is connected to the suspension, transmitting the

[0017] All combinations of the foregoing concepts and the further concepts described in more detail below (provided such concepts are not mutually inconsistent) are considered part of the inventive subject matter disclosed herein. In particular, all combinations of subject matter set forth in the claims set forth at the end of this disclosure are considered part of the inventive subject matter disclosed herein. Terms expressly used herein that may also be set forth in any disclosures incorporated by reference should be given the meaning that most closely matches the specific concepts disclosed herein.

[0018] Those skilled in the art will appreciate that the drawings are primarily for illustrative purposes and are not intended to limit the scope of the inventive subject matter described herein. The drawings are not necessarily to scale. In some instances, various aspects of the inventive subject matter disclosed herein may be shown exaggerated or enlarged in the drawings to facilitate an understanding of different features. In the drawings, like reference characters generally refer to like features (e.g., functionally similar and / or structurally similar elements). [Brief explanation of the drawings]

[0019] [Figure 1] 1A, 1B, and 1C show first, second, and third actuator assemblies that provide vehicle propulsion and active suspension, respectively. [Figure 2] 2A and 2B show a typical actuator assembly with the stator directly coupled to the chassis. [Figure 3A] 1 shows an inside view of a typical actuator with an axial flux motor. [Figure 3B] 3B shows a rear view of the actuator of FIG. 3A. [Figure 3C] 3B shows an external view of the actuator of FIG. 3A. [Figure 3D] FIG. 3B shows a perspective view of the actuator of FIG. 3A. [Figure 4A] FIG. 3B shows an inside view of an actuator assembly including the actuator of FIG. 3A coupled to a MacPherson strut suspension. [Figure 4B] FIG. 4B shows a rear view of the actuator assembly of FIG. 4A. [Figure 4C] FIG. 4B shows a perspective view of the actuator assembly of FIG. 4A. [Figure 5A] 1 shows a perspective view of a typical actuator with a differential shaft coaxial with a Panhard link and drive shaft. [Figure 5B] 5B shows a cross-sectional perspective view of the actuator of FIG. 5A. [Figure 5C] 5B shows a rear view of the actuator of FIG. 5A. [Figure 5D] 5B shows an inside view of the actuator of FIG. 5A. [Figure 5E] 5B shows a cross-sectional view of the actuator of FIG. 5A. [Figure 6A] 5B illustrates an exemplary actuator assembly including the actuator of FIG. 5A as a hub motor. [Figure 6B] 5B illustrates another exemplary actuator assembly including the actuator of FIG. 5A mounted inboard relative to a vehicle wheel. [Figure 6C] FIG. 5B illustrates a side view of another exemplary actuator assembly including the actuator of FIG. 5A integrated with a swing arm suspension in a wheel assembly. [Figure 7A] 1 shows a cross section of a typical actuator with a bevel gear transmission. [Figure 7B] 1 shows a cross-sectional view of a typical actuator with a dual bevel gear transmission. [Figure 7C] 1 shows a cross section of a typical actuator with a planetary gear transmission. [Figure 7D] FIG. 1 shows a cross-sectional view of a typical actuator with a bevel gear transmission in which the bevel gear is located outside a support structure that houses the inner and outer stators. [Figure 7E] FIG. 1 shows a cross-sectional view of a typical actuator with a planetary gear transmission in which planetary gears couple an inner stator to a differential shaft on an outer stator. [Figure 8A] FIG. 1 shows a diagram illustrating a typical actuator with a multi-pulley transmission. [Figure 8B] 1 shows a typical actuator with a single pulley drive transmission. [Figure 8C] 1 shows a typical actuator with a dual pulley drive transmission. [Figure 8D] A typical actuator with a single pulley, dual belt / cable transmission is shown. [Figure 8E]FIG. 1 shows a side view of a typical actuator with a dual helical gear transmission. [Figure 8F] 8F shows a plan view of the actuator of FIG. 8E. [Figure 9] Figure 9A shows a typical actuator assembly with a transmission directly coupled to the chassis via a prismatic sliding joint, and Figure 9B shows another typical actuator assembly with a transmission directly coupled to the chassis via a rocker joint. [Figure 10A] FIG. 10 shows a perspective view of another exemplary actuator with a rocker link and a differential shaft offset from the drive shaft and coaxial with the torsion bar. [Figure 10B] 10B shows a cross-sectional perspective view of the actuator of FIG. 10A. [Figure 10C] 10B shows a rear view of the actuator of FIG. 10A. [Figure 10D] 10B shows an inside view of the actuator of FIG. 10A. [Figure 10E] 10B shows a cross-sectional view of the actuator of FIG. 10A. [Figure 11A] 1 shows a cross-sectional view of a typical actuator with a differential shaft mounted to a secondary bevel gear in a transmission. [Figure 11B] FIG. 1 shows a side view of a typical actuator with a dual gear transmission directly coupled to the chassis. [Figure 12] Figure 12A shows a front view of a typical actuator assembly including an actuator with a linkage-based transmission, while Figures 12B and 12C show a top view and an inside view of the actuator of Figure 12A, respectively. DETAILED DESCRIPTION OF THE INVENTION

[0020] What follows is a more detailed description of various concepts related to actuators and actuator implementations (e.g., motor, transmission, and support structure assemblies) that provide one or more outputs (e.g., force, torque) to various subsystems. Specifically, various aspects related to transmissions, motors, couplings between transmissions, supports, motors, and / or reference structures, and actuator assemblies that integrate the actuators are described herein. The concepts introduced above and described in more detail below may be implemented in multiple ways. Examples of specific implementations and applications are presented primarily for illustrative purposes to enable those skilled in the art to implement implementations and alternatives that will be apparent to those skilled in the art.

[0021] The figures and examples described below are not intended to limit the scope of the present embodiment to a single embodiment. Other embodiments are possible by substituting some or all of the elements described or illustrated. Also, certain elements of the disclosed embodiment may be implemented partially or completely using known components. In some cases, in order to avoid obscuring the embodiment, only those known components necessary for understanding the embodiment will be described, and detailed descriptions of other parts of such known components will be omitted.

[0022] In the following description, various embodiments of the actuator of the present invention are presented. With a given embodiment or set of embodiments, one or more particular features of the motor (e.g., rotor, stator), support structure, and transmission (e.g., torsion bar, linkage, planetary gear, bevel gear, belt, pulley, gear train, track drive system) are presented. Features described with a given embodiment of the actuator, including the motor, housing, and transmission, may be used in other embodiments of the actuator according to the present disclosure, such that the various features disclosed herein can be readily combined into a given system according to the present disclosure (provided that these features are not compatible with one another).

[0023] Generally, an actuator can drive one or more subsystems based on one or more force / torque inputs. Depending on how the actuator is coupled to other components in the actuator assembly, the actuator outputs may be applied selectively (e.g., only one output at a time) or simultaneously (e.g., one or more outputs simultaneously).

[0024] In some exemplary embodiments, the actuator may include two torque sources, each applying a torque input to move a first component (e.g., to rotate a rotor). For each torque input, a reaction torque may be applied to a second component (e.g., a first stator) and a third component (e.g., a second stator) (supporting the respective torque source). The reaction torque may be the same magnitude as the torque input, but applied in a substantially opposite direction. Thus, the first, second, and third components may generally move relative to one another. For example, the first, second, and third components may each be constrained to rotate about a common axis, thereby causing each component to rotate relative to one another. The first, second, and third components may also be constrained by other mechanical loads. Thus, the components may transmit force or torque instead of moving. In this manner, the actuator may provide multiple output forces / torques.

[0025] Additionally, each output force / torque may be split into further outputs (e.g., the force may be split into two respective force components that are used separately, albeit as a combined output). For example, an actuator may be coupled to the chassis at two different nodes. At one node, the force exerted by the actuator on the chassis may cause the actuator to translate vertically (e.g., active suspension). At the other node, the force exerted between the actuator and the chassis may prevent, reduce, or resist unwanted horizontal translation.

[0026] The actuators disclosed herein may include electric motors, such as axial flux motors, radial flux motors, or radial-axial flux motors, with at least two torque sources (e.g., brushless direct current (DC) torque sources) of substantially equal size and output power. In an axial flux motor, each torque source may be mounted to a corresponding stator. The corresponding stator may rotate in response to an applied reaction torque. The two stators may share a rotor. The rotors include permanent magnets that respond to magnetic fields generated by coils on the respective stators. Using a single rotor with two stators may provide additional efficiency to the overall operation of the actuator. However, the motor may include more than two rotors (e.g., at least one rotor per stator).

[0027] Additionally, exemplary embodiments described below may incorporate actuators into actuator assemblies to rotate rotors and / or suspensions (e.g., on vehicles). Although directed to driving, the actuators of the present invention may be used in other applications. For example, the actuators may provide other outputs for vehicle operation (e.g., without limitation, ground clearance adjustment, steering, suspension tuning adjustment, and / or anti-dive / anti-squat). The actuators may also be used to operate other dynamic systems within a vehicle with two modes of operation (e.g., seat adjustment). The actuators may be coupled to the chassis using various types of suspensions (e.g., without limitation, MacPherson struts, torque connections to the chassis through linkages similar to roll stabilizers, or any other suspension suitable for converting rotational motion to linear motion).

[0028] The advantages of having a single actuator capable of driving two or more degrees of freedom can be applied to other technologies where space, material, and / or mass tolerances are limited. Examples of such applications include, but are not limited to, electric propellers with outboard steering for surface vehicles, thrust vectoring in jet propulsion systems, multi-degree-of-freedom drive systems for aircraft wings, controllable pitch propeller drives, driving various satellite-borne subsystems (e.g., on cube satellites), rotating platforms with additional degrees of motion (e.g., active camera stabilization, adjustment), stability control of optical systems, driving directional and rotational components for medical tooling and devices, drilling components, energy harvesting from multiple kinetic energy domains, and compact azimuth control of wind turbines.

[0029] For example, an actuator may be used as an in-wheel motor or a motor mounted internally on the vehicle's sprung mass or chassis to adjust the vehicle's ground clearance during towing. In this case, the actuator may be mounted at one corner of the road vehicle (with one output of the actuator coupled to a wheel or a drive shaft rotatably connected to the wheel). A second output may be coupled to a height adjustment mechanism that controls the vehicle's ground clearance. Each wheel may have a corresponding actuator and height adjustment mechanism. The height adjustment mechanism may include a lead screw or ball screw that, when actuated, moves one end of a spring (e.g., a main suspension spring or a roll stabilizer) that couples the vehicle's sprung and unsprung masses. Another height adjustment mechanism may include a gear or set of gears coupled to a torsion spring positioned between the sprung and unsprung masses. In another embodiment, a mechanism may convert the movement of an output shaft into a piston to create pressure on a load-bearing mechanism (e.g., an airbag or hydraulic cylinder). Actuator with stator directly coupled to chassis

[0030] FIG. 2A illustrates an embodiment of an actuator assembly 200a with a sliding joint transmission and a stator directly coupled to the chassis 12. As shown, the actuator assembly 200a includes an actuator 210a with a motor 220, a transmission 240a, and a support structure 250. The motor 220 includes a rotor 221 attached to a spindle 224. The spindle 224 defines an axis of rotation 13. The spindle 224 may be mechanically coupled to a reference ground 11 (e.g., a wheel fixed to the spindle 224 and in contact with the road). The motor 220 further includes a first stator 222 and a second stator 223, each of which supports a torque source (not shown) that applies an input torque to the rotor 221. The first stator 222 and the second stator 223 may be mounted coaxially with the spindle 224 via one or more bearings. In this manner, first stator 222 and second stator 223 may rotate relative to spindle 224. Spindle 224 may further be coupled to support structure 250 (e.g., a strut housing of a MacPherson strut). Support structure 250 supports struts 253. (which is rigidly coupled to chassis 12). In some cases, support structure 250 and strut 253 may comprise a prismatic sliding joint. Actuator assembly 200a may further include springs 254a and 254b that provide a restoring force that maintains support structure 250 at a particular position along strut 253 when actuator 210a is under a static load.

[0031] The transmission 240a may include a sliding joint housing 242. The sliding joint housing 242 couples the motor 220 to the support structure 250 and reacts lateral forces on the chassis 12 via the support structure 250. As shown, the transmission 240a may include links 245a and 245b, which are coupled at one end to the first stator 222 at node 246 and the second stator 223 at node 247, respectively, and at the other end to the joint housing 242 at node 243. The links 245a and 245b may be coupled to the nodes 247, 246, and 243 via pin joints (or ball joints) to allow rotational movement about their respective nodes while limiting translational movement. The joint housing 242 may be slidable along the support structure 250. Additionally, the second stator 223 may be directly coupled to the chassis 12 via link 248a. As shown, link 248a may be coupled via a pin joint to node 247 on second stator 223 and to chassis 12. Link 248a may be a rigid or flexible tension-compression member.

[0032] The torque sources coupled to the first stator 222 and the second stator 223 can generate input torque independently of each other. However, the first stator 222 and the second stator 223 may be coupled to each other via a transmission 240a. Additionally, the actuator 210a is coupled to other components of the actuator assembly 200a in three locations (i.e., the rotor 221 to the reference ground 11, the support structure 250 to the chassis 12 via struts 253, and the second stator 223 to the chassis 12 via link 248a). Thus, the actuator 210a can provide up to three force / torque outputs for two independent inputs. Input torque and reaction torque

[0033] As previously mentioned, the actuators described herein may provide multiple outputs to mechanically drive various subsystems of a system (e.g., a vehicle) (e.g., to rotate wheels, drive a suspension). For actuator assembly 200a shown in FIG. 2A , actuator 210a may provide multiple force and / or torque outputs to (1) rotate rotor 221 (e.g., to rotate and propel wheels coupled to the rotor) and / or (2) slidably adjust support structure 250 along struts 253 (e.g., to drive a suspension), thereby translating actuator 210a relative to chassis 12 and / or reference ground 11, and / or to compensate for undesired forces and / or motions in the system (e.g., to provide anti-dive when the vehicle is braking and / or anti-squat when the vehicle is accelerating, thereby enhancing vehicle stability and / or operator comfort) based on the momentum between first stator 222 and second stator 223. In this example, the co-force generated by the reaction torque applied to first stator 222 and second stator 223 of actuator 210a may be separated into two force components applied along different directions (e.g., two orthogonal force components). The magnitudes and / or directions of the two force components may be coupled. Furthermore, the co-force may be applied as a non-zero force via link 248a and / or as separate force components via support structure 250 to (1) link 248a and (2) strut 253.

[0034] In one case, a torque source coupled to the first stator 222 may generate an input torque that is applied to the rotor 221, while a torque source coupled to the second stator 223 remains inactive. The input torque may cause the rotor 221 to rotate about the axis of rotation 13 relative to the reference ground 11. As the first stator 222 generates the input torque, a corresponding reaction torque is also generated and applied to the first stator 222. The reaction torque and the input torque may be substantially equal in magnitude, but the directions in which the torques are applied may be substantially opposite. For example, the input torque applied to the rotor 221 may be along a clockwise direction, and the reaction torque applied to the first stator 222 may be along a counterclockwise direction.

[0035] The reaction torque applied to the first stator 222 may cause the first stator 222 to rotate about the rotation axis 13. However, the movement of the first stator 222 may be limited by the link 245a of the transmission 240a (which is coupled to the first stator 222 at the node 246). In other words, at least a portion of the reaction torque applied to the first stator 222 may be transmitted to the transmission 240a via the link 245a. The portion of the reaction torque transmitted to the transmission 240a may cause the joint housing 242 to slide along the support structure 250, and / or a portion of the reaction torque may be transmitted to the second stator 223 via the link 245b.

[0036] When the second stator 223 is decoupled from the chassis 12, a reaction torque causes the first stator 222 and the second stator 223 to rotate in opposite directions about the rotation axis 13, while the joint housing 242 in the transmission 240a slides along the support structure 250. When the link 248a between the second stator 223 and the chassis 12 is released, any force between the chassis 12 and the actuator 210 is applied through the suspension via the support structure 250. The stator 222 inertially accelerates itself, pulling the transmission 240a. The support structure 250 provides the torque coupling required by the transmission 240a, inertially accelerating the stator 223 via the link 245b. The spindle 224 reacts against the coupling force from the stator inertial load to the support structure along with the force from the reference ground 11, resulting in a reaction force from the suspension.

[0037] However, by coupling second stator 223 to chassis 12 via link 248a, a net force is imparted between actuator 210a and chassis 12, causing actuator 210a to translate along strut 253 (i.e., toward or away from reference ground 11). With respect to the illustration of actuator assembly 200a shown in FIG. 2A, when a reaction torque is applied to first stator 222 along a clockwise direction about rotation axis 13, actuator 210a translates toward reference ground 11. In contrast, when a reaction torque is applied along a counterclockwise direction about rotation axis 13, actuator 210a translates away from reference ground 11.

[0038] In another case, a torque source coupled to the second stator 223 may generate an input torque that is applied to the rotor 221, while the torque source coupled to the first stator 222 remains inactive. As in the previous case, the input torque may cause the rotor 221 to rotate about the axis of rotation 13 relative to the reference ground 11. A corresponding reaction torque (of similar magnitude but applied in the opposite direction to the input torque) may also be applied to the second stator 223. However, in this case, the reaction torque may be transmitted directly to the chassis 12 through link 248a rather than indirectly through the transmission 240a. The reaction torque may initially drive the transmission 240a and rotate the first stator 222. However, under steady-state conditions, the reaction torque applied to the second stator 223 may not be transmitted indirectly through the transmission 240a. The applied reaction torque may be transmitted primarily to the chassis 12 via link 248a. As in the previous case, the reaction torque may cause actuator 210a to translate toward or away from reference ground 11 based on the translational movement of support structure 250 along strut 253.

[0039] In the aforementioned cases, the magnitude and direction of the output force and torque generated by actuator 210a may be controlled, in part, by adjusting the magnitude and / or direction of the torque imparted on rotor 221 by first stator 222 and second stator 223. However, the output force / torque may also be simultaneously produced (which may not be desirable) by applying torque only through first stator 222 or second stator 223. For example, it may be preferable to rotate a wheel coupled to rotor 221 and spindle 224 without translating actuator 210a relative to chassis 12. In such cases, actuator 210a may produce an output by simultaneously applying torque through first stator 222 and second stator 223.

[0040] In some cases, the actuator may superimpose input and / or reaction torques generated by the torque sources to generate sum and differential torques that selectively control which output is provided by the actuator. In the case of actuator 210a shown in FIG. 2A, when input torques are applied in the same direction by first stator 222 and second stator 223, rotor 221 rotates in opposite directions. Thus, ignoring friction and mechanical gains (described below), the torque experienced by rotor 221 may be considered the vector sum of the applied torques. At the same time, ignoring friction and mechanical gains, the torque experienced by transmission 240a may be considered the vector difference of the applied torques. The mechanical gain experienced by transmission 240a may provide additional momentum that can be utilized as additional output from actuator 210a (e.g., for anti-dive, anti-squat functions).

[0041] For example, first stator 222 and second stator 223 may provide input torques of the same magnitude and direction. Thus, the total torque has twice the magnitude of the input torque, resulting in rotor 221 rotating about rotation axis 13. Reaction torques applied to first stator 222 and second stator 223 similarly have the same magnitude and are applied in the opposite direction to the input torque. Instead, a reaction force is generated between support structure 250 and struts 253 mounted on chassis 12.

[0042] In another embodiment, the first stator 222 and the second stator 223 may apply equal and opposite input torques to the rotor 221. In this case, the input torques prevent the rotor 221 from rotating (i.e., the input torques cancel each other). The resulting reaction torques applied to the first stator 222 and the second stator 223 similarly have the same magnitude but are applied in opposite directions relative to the rotational axis 13. The reaction torques thus drive the transmission 240a and / or produce a net differential torque output (i.e., the differential torque has constructive interference of the respective reaction torques), resulting in translational motion of the actuator 210a along the strut 253 (driving the suspension).

[0043] Generally, first stator 222 and second stator 223 may provide input torques with various magnitudes and directions. Thus, the relative magnitudes of the output forces / torques provided by actuator 210a may be varied based on the magnitude and / or direction of the input torques and corresponding reaction torques. Generally, adjustments to the magnitude and / or direction of one or both input torques in actuator 210a may result in one of the following outputs: The actuator 210a may generate one or more of the following: (1) rotating the rotor 221, (2) translating the actuator 210a along the struts 253, and (3) generating a reaction force between the support structure 250 and the struts 253. The relative magnitude and / or direction of one or more of the output forces / torques provided by the actuator 210a may be adjusted in a substantially continuous (or discrete) manner relative to the input torque. For example, a continuous change in the magnitude and / or direction of the input torque(s) results in a continuous change to the output force / torque. Mechanical Gain and Kinetic Ratio

[0044] Additionally, transmission 240a may provide a mechanical gain, which can be quantified as a motion ratio that depends on the relative positions of first stator 222 and second stator 223. The motion ratio depends on the configuration of motor 220, transmission 240a, support structure 250, and the connections between these components and their subcomponents (e.g., link lengths and shapes and node locations). In FIG. 2A , for example, links 245a and 245b in actuator 210a have the same length and are symmetrically coupled to nodes 247 and 246. Nodes 247 and 246 are at similar radial distances from rotation axis 13. Therefore, when first stator 222 rotates, second stator 223 rotates at a 1:1 motion ratio.

[0045] In other embodiments, the geometry of links 245a and 245b and / or the locations of nodes 247 and 246 may be varied to create different motion ratios between first stator 222 and second stator 223. This results in a modified dependence of each output force / torque from actuator 210a on the input torque on first stator 222 and / or second stator 223. For example, transmission 240a may be configured such that the torque between actuator 210a and chassis 12 caused by a reaction torque applied to first stator 222 is greater than the reaction torque applied to second stator 223 (e.g., first stator 222 may function in a manner similar to a low gear in a vehicle transmission, producing more torque). Instead, the reaction torque applied to the second stator 223 may result in a faster rate of drive between the actuator 210a and the chassis 12 than the reaction torque applied to the first stator 222 (e.g., the second stator 223 may function in a manner similar to a high-speed gear in a vehicle transmission, allowing for higher speeds).

[0046] In another embodiment, the range of motion of first stator 222 and second stator 223 may be modified so that the output force / torque depends in part on the angular position of first stator 222 and second stator 223. For example, mechanical stops may be incorporated into actuator 210a that limit the range of rotation of first stator 222 and second stator 223. The mechanical stops may define the angular range over which actuator 210a can generate differential torque output at particular nodes. The mechanical stops may be coupled to support structure 250. In this manner, the geometry of actuator 210a and its internal and external connections may be selected to adjust the various output forces / torques generated by actuator 210a.

[0047] Transmission 240a may also generate an asymmetric response between first stator 222 and second stator 223. For example, second stator 223 may rotate in response to a reaction torque applied to first stator 222, but first stator 222 may not rotate in response to a reaction torque applied to second stator 223. This may be achieved, for example, by using a ratcheting mechanism such that first stator 222 can only rotate along one direction (e.g., only clockwise or only counterclockwise), while second stator 223 is free to rotate in one or more directions (e.g., clockwise and counterclockwise). This can be achieved by rotating the first stator 222 and the second stator 223. Asymmetric response between the first stator 222 and the second stator 223 can provide another parameter that changes the dependence of the output force / torque on the input torque and / or reaction torque. The motion ratio between the two stators does not need to be constant or linear. An actuator with a stator coupled to the chassis via a rocker joint

[0048] FIG. 2B illustrates another exemplary actuator assembly 200b with a rocker joint transmission 240b and a stator directly coupled to the chassis 12. As shown, the actuator assembly 200b shares several similarities with the actuator assembly 200a of FIG. 2A. Similar to FIG. 2A, the actuator assembly 200b includes a motor 220, a transmission 240b, and a support structure 250. The motor 220 includes a rotor 221 coupled to a spindle 224 that defines a rotational axis 13. The spindle 224 is also coupled to the reference ground 11. The motor 220 also includes a first stator 222 and a second stator 223, each of which supports a torque source and is coaxial with the spindle 224. The spindle 224 is supported by a support structure 250 (e.g., a strut housing) that is slidably adjustable along a strut 253 that is rigidly mounted to the chassis 12. Springs 254a and 254b may be used to provide a restoring force to actuator 210b.

[0049] In this case, rocker joint transmission 240b includes a rocker joint arm 244 that rotates about node 243. As shown, transmission 240b includes link 245a coupled to first stator 222 at node 246 and link 245b coupled to second stator 223 at node 247 via corresponding pin joints (or ball joints). Links 245a and 245b are coupled to rocker joint arm 244, which is itself coupled to support structure 250 at node 243. Rocker joint arm 244 may be coupled to links 245a and 245b and support structure 250 via corresponding pin joints (or ball joints).

[0050] Second stator 223 is also directly coupled to chassis 12 by link 248b. Link 248b couples second stator 223 to node 249, which is not co-located with node 247. Instead, node 249 is radially offset, for example, by a cam as shown in FIG. 2B. The length of link 248b and the (radial) location of node 249 can be selected to provide a desired ratio of motion between the rotation of second stator 223 and the translational motion of support structure 250.

[0051] Actuator assembly 200b may operate in a manner similar to actuator assembly 200a. Transmission 240a may be considered an instantaneous straightening of transmission 240b. Torque sources on first stator 222 and second stator 223 may each generate an input torque that is applied to rotor 221, causing rotor 221 to rotate about axis of rotation 13 relative to reference ground 11. Each torque source may generate a corresponding reaction torque that is applied to first stator 222 and second stator 223. In the case of second stator 223, the applied reaction torque may be transmitted directly to chassis 12 via link 248b, causing actuator 210b to translate along strut 253 away from or toward reference ground 11.

[0052] In the case of the first stator 222, the applied reaction torque may be transmitted to the rocker joint arm 244 via the link 245a. 44 may rotate about node 243 relative to support structure 250. However, due to the constraint imposed by link 248b coupling second stator 223 to chassis 12, at least a portion of the reaction torque transmitted from first stator 222 to transmission 240b may instead be transmitted to second stator 223 via link 245b. This reaction torque may then create a net force or torque between actuator 210b and chassis 12, resulting in translation of actuator 210b along strut 253 via support structure 250. A reaction force / torque may also be applied between support structure 250 and chassis 12, which may be used as another output (e.g., anti-dive, anti-squat).

[0053] The geometry of rocker joint arm 244 may be varied to adjust the dependence of each output force / torque on the respective input and / or reaction torques generated by the torque sources on first stator 222 and second stator 223. For example, the length of rocker joint arm 244 may affect the range of angular rotation relative to first stator 222 and / or second stator 223. The orientation of rocker joint arm 244, which may depend on the respective locations of nodes 247 and 246 and the lengths of links 245a and 245b, may affect the direction of the reaction force that transmission 240b applies to support structure 250. For example, rocker joint arm 244 may be an elongated member in which forces are transmitted primarily along the length of the arm (with lateral forces being more likely to rotate rocker joint arm 244). Axial flux motor with Panhard link and coaxial drive and differential shafts

[0054] 3A-3D show several views of an exemplary actuator 310 that is kinematically equivalent to actuator 210b of FIG. 2B. As shown, actuator 310 may include an axial flux motor 320. Motor 320 includes a rotor 321 mounted on a spindle 324. Motor 320 further includes a first stator 322 and a second stator 323, which are coaxially constrained by spindle 324 and disposed on opposite sides of rotor 321. As shown, first stator 322 and second stator 323 may each be coupled to a respective housing. Together, the housings form a substantially enclosed cavity to contain rotor 321 while still allowing rotational motion between first stator 322 and second stator 323.

[0055] First stator 322 and second stator 323 each include a torque source. The torque source includes one or more magnets disposed on rotor 321 or the respective stator, and one or more coils disposed on rotor 321 or the respective stator opposite the one or more magnets. When current is applied to the coil(s) via associated electronics (not shown), a magnetic field is generated, which interacts with the permanent magnetic field of the magnet(s) to rotate rotor 321 (and / or stator). In this axial flux motor 310, the magnets and coils are mounted on the faces of rotor 321 and stator, respectively. Motor 320 may also be a radial flux motor (one or more magnets and coils are mounted on the periphery (e.g., the outer edge of rotor 321, the inner edge of a stator surrounding rotor 321)), or a combination radial-axial flux motor.

[0056] The actuator 310 may include a support structure 350 that provides mechanical support for the motor 320 and transmission 340. As previously mentioned, the support structure 350 may remain stationary relative to the frame of reference of the actuator 310. In other words, the support structure 350 does not move relative to the motor 320 and transmission 340, but does move relative to a reference ground or chassis. As shown, the support structure 350 , may allow spindle 324 to rotate while restricting other degrees of freedom. Support structure 250 may also define an opening 311 for coupling support structure 350 to a strut housing (see FIGS. 4A-4C). As shown, opening 311 may be shaped to allow the strut housing to be inserted. One or more fasteners may be used to securely couple support structure 350 to the strut housing.

[0057] Transmission 340 may include a first arcuate link 345a coupled to first stator 322 at node 346 and a second arcuate link 345b coupled to second stator 323 at node 347. Links 345a and 345b are coupled to a torsion bar 344 that rotates relative to support structure 350 along an axis of rotation through node 343. Torsion bar 344 may be positioned within an opening in support structure 350 that allows torsion bar 344 to rotate while restricting the other degrees of freedom of the torsion bar. In this example, support structure 350 restricts movement of the center of mass of the torsion bar to a particular arc relative to support structure 350.

[0058] Similar to actuator 210b of Figure 2B, actuator 310 of Figure 3 is configured to generate total and differential torque outputs that are applied to rotor 321. These output forces / torques may be used to drive various subsystems. For example, the total torque may spin a drive shaft, which in turn rotates the wheels, and the differential torque may drive an active suspension system.

[0059] 4A-4C show several views of an actuator assembly 400 incorporating the actuator 310 of FIGS. 3A-3D. As shown, the actuator 310 is integrated into a suspension system in which the actuator 310 uses a sum torque to rotate a wheel 410 coupled to a spindle 324. A differential torque is used to drive a suspension coupled to the chassis 12.

[0060] 4A-4C show the support structure 350 of the actuator 310 coupled to a strut housing 412 through an opening 311. The strut housing 412 is slidably adjustable along a strut 453 coupled to the chassis 12. A spring 454 is disposed along the strut 453 and coupled to the chassis 12 and the support structure 350 to provide a restoring force when the suspension is actuated. The actuator assembly 400 further includes a link 448 (shown as a tension-compression member or push rod) that couples the second stator 323 to the chassis 12 at a node 349. As shown, the link 448 may be coupled to the second stator 323 and the chassis 12 via respective ball joints. The actuator assembly 400 may also include a lower control arm 482 and a tie rod 480, each coupled to the chassis 12 at one end and the support structure 350 at the other end. The lower control arm 482 and tie rod 480 may further limit the kinematic movement of the support structure 350. Thus, the strut housing 412, strut 453, lower control arm 482, and tie rod 480 together comprise a MacPherson strut suspension.

[0061] A counterforce may be generated by a reaction torque applied to the first stator 322 and the second stator 323. The counterforce may be transmitted along the link 448 to the chassis 12 to translate the actuator 310 along the strut 453 via the strut housing 412 and / or to prevent compression or extension of the actuator 310 when the vehicle is braking or accelerating, respectively. As previously mentioned, a reaction force / torque may be generated between the strut housing 412 and the strut 453, which may provide another output (e.g., to counteract a force component). Cut. Axial flux motor with rocker links and offset drive and differential shafts

[0062] 5A-5E illustrate another exemplary actuator 510 with a transmission 540. The transmission 540 has rocker links that restrict the movement of a first stator 522 and a second stator 523 within an axial-flux motor 520. Similar to the actuator 310, the transmission 540 includes a torsion bar 544. The torsion bar 544 is a mechanically rigid component constrained by a support structure 550 to rotate along an axis parallel to the axis of rotation of the spindle 524. The torsion bar 544 is coupled to the first stator 522 via link 545a at node 546 and to the second stator 523 via link 545b at node 547. Links 545a and 545b are free to rotate at their respective joints. The support structure 550 may be mounted to a suspended or load-responsive reference frame (e.g., a vehicle chassis). In this case, second stator 523 may be coupled to an external subsystem at node 549 via a differential shaft 562 on second stator 523. Differential shaft 562 may rotate about the same axis of rotation as rotor 521 and spindle 524. Compared to actuator 310, actuator 510 operates similarly, except that the differential torque is output through differential shaft 562 rather than being output as a force through a link or push rod member (e.g., link 448).

[0063] FIG. 6A illustrates an exemplary actuator assembly 600a incorporating the actuator 510 of FIGS. 5A-5E as a hub motor. As shown, a total torque applied to rotor 521 may rotate wheel 410 mounted on spindle 524. A differential torque provided by differential shaft 562 may be applied to torque shaft 610. In this manner, actuator 510 does not directly generate a force / torque output from an unsprung mass to drive chassis 12, but rather transmits the differential torque as a pure torque to chassis 12 via inner torque shaft 610. The torque transmitted to torque shaft 610 may be used to drive other subsystems (e.g., drive the suspension via another mechanism). Actuator assembly 600a also includes a lower A-arm 682, an upper A-arm 684, and a tie rod 680, which form part of the suspension. A-arms 682 and 684 and tie rod 680 are coupled to chassis 12 and support structure 550 (portions of support structure 550 to which arms 682 and 684 and tie rod 680 are coupled are not shown).

[0064] 6B illustrates another exemplary actuator assembly 600b in which the actuator 510 is mounted inside the vehicle's sprung mass or chassis 12. As shown, the actuator assembly 600b includes a drive shaft 624 that couples the spindle 524 of the motor 520 to the wheels 410. Thus, the total torque applied to the rotors 521 may be used to rotate the wheels 410 via the drive shaft 624. The differential shaft 562 is coupled to a linkage 620 that transfers the differential torque to a drive member 622. The drive member 622 may be coupled to other subsystems (e.g., driving a suspension mechanism).

[0065] 6C illustrates another exemplary actuator assembly 600c in which the actuator 310 of FIGS. 3A-3D is incorporated into a swinging arm suspension. Swinging arm suspensions are typically used in various types of vehicles (e.g., without limitation, motorcycles, bicycles, and scooters). As shown, the actuator 310 may be mounted to a support frame 630. The support frame 630 may be configured to support the wheel 410. The support frame 630 may have forks supporting both sides of the wheel. The support frame 630 may be mounted to the chassis 12 via arms 632 (e.g., leading arms, trailing arms). The arms 632 are rotatably coupled to the support frame 630 and the chassis 12. The arms 632 may limit the movement of the center of mass of the wheel to a curved path (e.g., a circular arc). The support frame 630 may also be coupled to the chassis 12 via shock absorbers 634 to provide suspension. The shock absorbers 634 may be coupled to the support frame 630 via a pin joint. The actuator 310 may be coupled to the chassis 12 via a rod 636. The rod 636 is rotatably coupled to the chassis 12 and the actuator 310.

[0066] In this manner, rod 636 may be driven by actuator 310 (e.g., differential torque) such that strut 634 is contracted or extended by rod 636. Transmission 340 may couple first stator 322 to second stator 323 via links 345a and 345b and torsion bar 344, such that reaction torque can be transferred from first stator 322 to second stator 323 (or vice versa). In this manner, rod 636 may be connected to first stator 322 or second stator 323. Axial flux motor with bevel gear transmission

[0067] FIG. 7A illustrates another exemplary actuator 710a having a bevel gear transmission 740a. As shown, the actuator 710a may include an axial flux motor 720 with a rotor 721 mounted on a spindle 724. The motor 720 may include a first stator 722a and a second stator 723a, which are disposed on opposite sides of the rotor 721 and are coaxially constrained to rotate about the spindle 724 via one or more bearings (each represented as a circle with an "X"). The motor 720 may be supported by and surrounded by a support structure 750. The transmission 740a may couple the first stator 722a to the second stator 723a via a bevel gear 748a. The bevel gear 748a may rotate at a node 743 relative to the support structure 750 via one or more bearings. Generally, only one bevel gear 748a may be used. However, the transmission 740a shown in Figure 7A includes two bevel gears 748a to provide additional mechanical support.

[0068] Bevel gear 748a may include one or more gear teeth that mesh with corresponding gear teeth on first stator 722a at node 746 and with corresponding gear teeth on second stator 723a at node 747. Thus, rotation of first stator 722a in response to reaction torque causes rotation of bevel gear 748a, which in turn causes rotation of second stator 723a in the opposite direction. In this manner, bevel gear transmission 740a provides counter-rotation between first stator 722a and second stator 723a. Thus, actuator 710a operates kinematically similar to actuator 210b shown in FIG. 2B. A sum torque may be applied to rotate rotor 721, and a differential torque may be output at differential shaft 762 fixed to second stator 723a. The reaction force / torque may be applied to support structure 750 via bevel gear 748a.

[0069] 7B illustrates another exemplary actuator 710b having a transmission 740b with a dual bevel gear mechanism. The transmission 740b includes a dual bevel gear 748b that meshes with a first stator 722b and a second stator 723b via separate bevel gears mounted on the same spindle 724. The dual bevel gear 748b allows the first stator 722b to be rotated relative to the second stator 723b based on the relative sizes of the bevel gears in the dual bevel gear 748b and / or their tooth diameters relative to the spindle axis 13. Different motion ratios may be possible between first stator 722b and second stator 723b. For example, the gear coupled to first stator 722b may be larger than the gear coupled to second stator 723b, thereby amplifying the torque transmitted between first stator 722b and dual bevel gear 748b and / or amplifying the rotational speed between second stator 723b and dual bevel gear 748b.

[0070] 7C illustrates another exemplary actuator 710c having a transmission 740c with a planetary gear mechanism. In this case, the transmission 740c may include a planetary gear 748c that rotates about an axis of rotation parallel to the axis of rotation of the spindle 724. As shown, other translational and rotational degrees of freedom of the planetary gear 748c may be limited by a support structure 750. The actuator 710c may operate similarly to the actuator 710a of FIG. 7A.

[0071] FIG. 7D illustrates another exemplary actuator 710d in which a transmission 740d includes a bevel gear mechanism (located within the support structure 750) housed within a support structure 750 from a motor 720. In this case, a first stator 722d is mounted on a differential shaft 764 that transmits differential torque. A rotor 721 and a second stator 723d are coaxial with the differential shaft 764. The rotor 721 further includes a drive shaft (spindle) 724 coupled to a rotor frame 726 that partially surrounds the first stator 722d. The actuator 710d operates similarly to the actuator 710a of FIG. 7A, with the transmission 740d including a bevel gear 748d that meshes with the first stator 722d and the second stator 723d. In this case, however, the second stator 723d transmits reaction torque to the first stator 722d through the transmission 740d.

[0072] 7E illustrates another exemplary actuator 710e in which a transmission 740e includes a planetary gear mechanism and a first stator 722e outputs differential torque via a differential shaft 764. Actuator 710e is similar to actuator 710d, except that instead of bevel gears 748d, planetary gears 748e are used to couple the first stator 722e and the second stator 723e. As shown, planetary gears 748e may rotate about an axis parallel to the axis of rotation of the differential shaft 764 and may otherwise be constrained along other translational and rotational degrees of freedom by a support structure 750. Axial flux motor with pulley transmission

[0073] FIG. 8A illustrates an exemplary transmission 840a that transmits reaction torque using a belt mechanism. As shown, a first stator 822 may be coupled to a shaft-mounted pulley 832. A second stator 823 may be coupled to a shaft-mounted pulley 831 that rotates concentrically around the first stator 822 via one or more bearings. Pulleys 831 and 832 may be coupled to a primary pulley 830 via belts 836 and 838, respectively. Primary pulley 830 may be coupled to and constrained by a support structure 850. Thus, rotation of second stator 823 rotates primary pulley 830 via belt 836, which in turn rotates first stator 822 in the opposite direction via belt 838. In this manner, transmission 840a may provide functionality similar to the transmissions of FIGS. 2A-7E. Transmission 840 a may also include an idler pulley 834 that guides and / or tensions belt 838 .

[0074] Idler pulley 834 may be translationally constrained by support structure 850. Additionally, chains and / or cables may be used in place of belts 836 and 838. Belts 836 and 838 may transmit torque based on frictional contact with their respective pulleys. Thus, the dimensions of belts 836 and 838 and / or the configuration of transmission 840a may be adapted to increase the contact area between belts 836 and 838 and their respective pulleys, thereby reducing slippage. In some cases, belts 836 and 838 may have teeth that mesh with corresponding teeth on the pulleys to further reduce slippage. However, in some cases, it may be preferable for belts 836 and 838 to slip in a controlled manner.

[0075] FIG. 8B illustrates an exemplary actuator 810b with a single-pulley transmission 840b. As shown, the actuator 810b may include a first stator 822 and a second stator 823 that rotate about the same axis of rotation. The transmission 810b may include a belt 843 having one end coupled to the first stator 822 at node 846 and another end coupled to the second stator 823 at node 847. The belt 843 may be guided by a pulley 842 disposed between the first stator 822 and the second stator 823. Thus, rotation of the first stator 822 pulls the belt 843 along the first stator 822. As a result, tension is generated along the belt 843, causing the pulley 842 and the second stator 823 to rotate accordingly. Specifically, the second stator 823 rotates in the opposite direction to the first stator 822. With this design, the length of the belt 843 may be adapted to adjust the range of angular displacement of the first stator 822 and the second stator 823 .

[0076] FIG. 8C illustrates an exemplary actuator 810c with a dual-pulley transmission 840c. As shown, transmission 840c may include pulleys 844a and 844b, both of which are used to guide belt 845. Unlike belt 843 in actuator 810b of FIG. 8B, belt 845 in actuator 810c is not fixed to either first stator 822 or second stator 823. Instead, belt 845 is wrapped under tension around first stator 822, second stator 823, and pulleys 844a and 844b. However, actuator 810c operates similarly to actuator 810b by providing counter-rotational motion between first stator 822 and second stator 823. With this design, the length of belt 845 may be limited by the size and placement of first stator 822, second stator 823, and pulleys 844a and 844b.

[0077] 8D illustrates an exemplary actuator 840d with a single-pulley, dual-belt transmission 840d. As shown, transmission 840d may include a cylindrical pulley 846 that rotates about an axis of rotation parallel to the axes of rotation of first stator 822 and second stator 823. In this design, transmission 840d includes belt 849a coupling first stator 822 to pulley 846 and belt 849b coupling second stator 823 to pulley 846. Belt 849a may be twisted to form an additional loop that wraps around pulley 846, allowing transmission 840d to provide counter-rotating motion between first stator 822 and second stator 823. In some cases, one or both of belts 849a and 849b may be fixed to their respective stators to limit the range of rotation.

[0078] 8E and 8F show several views of an exemplary actuator 810e with a dual helical gear transmission 840e. As shown, transmission 840e may include helical gears 860 and 862 that rotate relative to a support structure 850. Helical gears 860 and 862 may mesh, resulting in counter-rotating motion between gears 860 and 862. A first stator 822 is coupled to helical gear 860 via a belt 866 guided by a pulley mounted on helical gear 860. 8. Similarly, second stator 823 may be coupled to helical gear 862 via belt 868 guided by a pulley mounted on helical gear 862. Thus, as first stator 822 rotates, belt 866 is pulled under tension, causing helical gear 860 to rotate. As a result, helical gear 862 and second stator 823 rotate in opposite directions via belt 868. Belts 866 and 868 may each be held under tension via idler 864, which may be constrained by support structure 850 to rotate about an axis parallel to helical gears 860 and 862. Typical actuator with chassis-coupled transmission

[0079] FIG. 9A illustrates an actuator assembly 900a with a sliding joint transmission 940a. In the sliding joint transmission 940a, the transmission 940a is directly coupled to the chassis 12. As shown, the actuator assembly 900a includes an actuator 910a with a motor 920, the transmission 940a, and a support structure 950. As before, the motor 920 includes a rotor 921 attached to a spindle 924 that defines an axis of rotation 13. The spindle 924 may be mechanically coupled to a reference ground 11 (e.g., via a wheel on a road). The motor 920 further includes a first stator 922 and a second stator 923, each of which supports a torque source (not shown) that applies torque to the rotor 921. The first stator 922 and the second stator 923 may be constrained coaxially to the spindle 924 via one or more bearings. The spindle 924 may further be coupled to the support structure 950. Support structure 950 may be slidably adjustable along struts 953 that are rigidly coupled to chassis 12. As before, actuator assembly 900a may include springs 954a and 954b that provide a restoring force to actuator 910a.

[0080] The transmission 940a may also be coupled to the first stator 922 and the second stator 923, similar to the previous embodiment. The transmission 940a may include a link 945a coupling the first stator 922 at node 946 to the joint housing 942 at node 943 and a link 945b coupling the second stator 923 at node 2204 to the joint housing 942. The links 945a and 945b may be coupled to the stators and the joint housing 942 via a pin joint (or a ball joint). In this embodiment, the transmission 940a is directly coupled to the chassis 12 at node 949 via a link 948. The link 948 changes how reaction torque is transmitted within the actuator 910a. For example, when a reaction torque is applied to the first stator 922, at least a portion of the reaction torque is transmitted to the joint housing 942 via the link 945a. As a result, the joint housing 942 slides along the support structure 950. However, because the joint housing 942 is directly coupled to the chassis 12, the reaction torque is primarily transferred from the transmission 940a to the chassis 12 (rather than being transferred to the second stator 923). A similar effect occurs when a reaction torque is applied to the second stator 923. Because the second stator 923 does not receive a reaction torque from the first stator 922, the first stator 922 and the second stator 923 may be mounted symmetrically when applying a similar reaction torque from a corresponding torque source.

[0081] However, actuator 910a may operate similarly to the previous embodiment. The input torque may be expressed as a vector summed torque applied to rotor 921. Transmission 940a creates counter-rotation between first stator 922 and second stator 923, resulting in a reaction torque that may be expressed as a differential torque output. The differential torque is applied to link 94, which translates actuator 910a along strut 953. 8 between the transmission 940a and the chassis 12. Additionally, the differential torque may generate a reaction force / torque between the support structure 950 of the actuator 910a and the strut 953, which may be used as an additional output (e.g., for anti-dive, anti-squat).

[0082] 9B illustrates another exemplary actuator assembly 900b in which a transmission 940b includes a rocker joint and is directly coupled to the chassis 12. Similar to actuator 210b, transmission 940b may include a rocker joint arm 944 coupled to links 945a and 945b and to a node 943 on a support structure 950. Further, rocker joint arm 944 may be directly coupled to the chassis 12 at node 949 via link 948. However, transmission 940b may operate similarly to actuator 210b, and actuator assembly 900b may transmit torque similarly to actuator 910a.

[0083] 10A-10E show several views of a typical actuator 1010 with a transmission 1040 having a Panhard link that also provides a differential torque output. Actuator 1010 is kinematically similar to actuator 910b and therefore operates similarly. (Unless otherwise noted, reference numerals with similar suffixes indicate kinematic equivalents; e.g., rotor 921 in FIG. 9B is kinematically equivalent to rotor 1021 in FIG. 10E.) As shown, transmission 1010c includes links 1045a and 1045b coupled to a torsion bar 1044. In this case, differential shaft 1062 is directly coupled to the torsion bar. Thus, reaction torques applied to first stator 1022 and second stator 1023 may be transmitted as output through the torsion bar.

[0084] FIG. 11A illustrates another exemplary actuator 1110a in which a transmission 1140a includes a bevel gear mechanism that directly outputs differential torque. The actuator 1110a is kinematically similar to the actuator 910b of FIG. 9B and therefore operates similarly. (Again, unless otherwise noted, reference numerals with similar suffixes are kinematically equivalent.) The transmission 1140b includes a bevel gear 1148a that meshes with the first stator 1122 and the second stator 1123, creating counter-rotating motion between the first stator 1122 and the second stator 1123. However, in this case, the bevel gear 1148a includes a complementary gear that meshes with a secondary bevel gear 1148b that supports the differential shaft 2350. Thus, rotation of first stator 1122 and / or second stator 1123 rotates bevel gear 1148 a , which in turn rotates secondary bevel gear 1148 b , resulting in a differential torque output at node 1149 .

[0085] 11B illustrates another exemplary actuator 1110b with a dual gear transmission 1140b coupled to the chassis 12. As shown, the transmission 1140b may include a first gear 1160 that meshes with a first stator 1122 and a second gear 1162 that meshes with a second stator 1123. The first gear 1160 and the second gear 1162 may also mesh with each other, resulting in counter-rotational motion between the first stator 1122 and the second stator 1123. The first gear 1160 and the second gear 1162 may be supported by the support structure 1150. Additionally, the second gear 1162 may be coupled to the chassis 12 via a linkage 1148c. Thus, a reaction torque may be transmitted to first gear 1160 and / or second gear 1162, which may then be transmitted via linkage 1148c to chassis 12, creating a driving force that translates actuator 1110b relative to chassis 12. Actuator 1110b is also kinematically similar to actuator 910b of FIG. 9B.

[0086] 12A-12C show several views of an exemplary actuator assembly 1200 that outputs translational motion and / or force as opposed to differential torque. In this case, the actuator 1210 is kinematically equivalent to the actuator 910a of FIG. 9A. The actuator 1210 may include a transmission 1240 that constrains the first stator 1222 and the second stator 1223 to counter-rotation. The transmission 1240 may include a sliding joint 1274 that couples to the chassis 12 via a linkage 1272. The sliding joint 1274 may be slidably adjustable along a strut 1270 that is coupled to the support structure 1250. The sliding joint 1274 may also be mounted on an arm 1276 that is slidably adjustable relative to the support structure 1250. The adjustment occurs along an axis substantially perpendicular to the axis along which the sliding joint 1274 moves relative to the strut 1270. In this manner, the struts 1270 and arms 1276 restrict the actuator 1210 to translational (as opposed to rotational) movement relative to the chassis 12 .

[0087] 8A-8F can be easily incorporated into an actuator where the transmission is directly coupled to the chassis 12. This may be achieved, in part, by adding a differential shaft to one of the components in the transmission. For example, a differential shaft may be located on one of the pulleys in the pulley-based transmission shown in FIGS. 8A-8F, which may also be directly coupled to the chassis 12. Conclusion

[0088] All parameters, dimensions, materials, and configurations described herein are intended to be typical, and the actual parameters, dimensions, materials, and / or configurations will depend on the specific application or applications in which the teachings of the present invention are used. It is to be understood that the foregoing embodiments have been presented primarily by way of example, and that, within the scope of the appended claims and equivalents thereof, embodiments of the present invention may be practiced other than as specifically described and claimed. Inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, kit, and / or method described herein.

[0089] In addition, any combination of two or more such features, systems, articles, materials, kits, and / or methods is within the inventive scope of the present disclosure, provided that such features, systems, articles, materials, kits, and / or methods are not mutually inconsistent. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of individual elements of exemplary embodiments without departing from the scope of the present disclosure. The use of numerical ranges does not exclude equivalents outside those ranges that perform the same function in the same way to produce the same results.

[0090] Various inventive concepts may also be embodied as one or more methods for which at least one example is shown. The acts performed as part of the method may, in some cases, be ordered in different ways. Thus, in some embodiments of the invention, the individual acts of a given method may be performed in an order different from that specifically illustrated, which may include performing some acts simultaneously (even if such acts are shown as sequential acts in the exemplary embodiment).

[0091] All publications, patent applications, patents, and other references mentioned herein are incorporated by reference in their entirety.

[0092] All definitions, as provided and used herein, are understood to supersede dictionary definitions, definitions in documents incorporated by reference, and / or ordinary meanings of the defined terms. We must solve it.

[0093] The indefinite articles "a" and "an," as used in the specification and claims, unless clearly indicated otherwise, should be understood to mean "at least one."

[0094] The word "and / or," as used in the specification and claims, should be understood to mean "one or both" of the conjoined elements (i.e., elements that are present conjunctively in some cases and disjunctively in other cases). Multiple elements listed with "and / or" should be construed in the same manner (i.e., "one or more" of the conjoined elements). Other elements (whether related or unrelated to the specifically identified elements) other than the elements specifically identified by the "and / or" clause may optionally be present. Thus, as a non-limiting example, a reference to "A and / or B," when used in conjunction with open-ended terminology such as "comprising," can refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements), etc.

[0095] As used herein and in the claims, "or" should be understood to have the same meaning as "and / or" as defined above. For example, when separating items in a list, "or" or "and / or" shall be construed as inclusive, i.e., including at least one (but including more than one) of a number or list of elements and, optionally, additional items not listed. Terms clearly indicating otherwise, such as "only one of" or "exactly one of," or, when used in the claims, "consisting of," only refer to the inclusion of exactly one element of a number or list of elements. In general, the term "or," as used herein, shall only be construed to indicate exclusive alternatives (i.e., "one or the other, but not both") when preceded by terms of exclusivity, such as "either," "one of," "only one of," or "exactly one of." "Consisting essentially of," when used in the claims, shall have its ordinary meaning as used in the field of patent law.

[0096] As used herein and in the claims, the phrase "at least one," in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, and does not necessarily include at least one of each and every element specifically listed in the list of elements, nor does it exclude any combination of elements in the list of elements. This definition also recognizes that elements (whether related or unrelated to the specifically identified elements) other than the specifically identified elements in the list of elements to which the phrase "at least one" refers may optionally be present. Thus, as a non-limiting example, "at least one of A and B" (or, equivalently, "at least one of A or B," or, equivalently, "at least one of A and / or B") can refer to, in one embodiment, at least one A (optionally including more than one A) and no B (and optionally including elements other than B); in another embodiment, at least one B (optionally including more than one B) and no A (and optionally including elements other than A); in yet another embodiment, at least one A (optionally including more than one A) and at least one B (optionally including more than one B) (and optionally including other elements);

[0097] In the claims, as well as in the foregoing specification, all transitional phrases, such as "comprising," "including," "carrying," "having," The terms "containing," "involving," "holding," "consisting of," and the like should be understood to be open-ended, meaning including, but not limited to: Only the transitional phrases "consisting of" and "consisting essentially of" shall be closed or semi-closed transitional phrases, respectively, as set forth in the United States Patent Office Manual of Patent Examining Procedures, Section 2111.03.

Claims

1. An actuator assembly for coupling a wheel of a vehicle to a chassis of said vehicle, comprising: a support structure configured to be coupled to the chassis via a suspension; A motor, a spindle rotatably coupled to the support structure and configured to be mounted to the wheel; a rotor mounted on the spindle; a first stator rotatably coupled to the spindle; a second stator rotatably coupled to the spindle; and the motor comprising: a transmission directly coupled to the first stator, the second stator, and the support structure to limit rotational movement of the first stator and the second stator; a link configured to be directly coupled to the transmission and directly coupled to the chassis; Equipped with the support structure, the motor, and the transmission are configured to be translatable together relative to the chassis; The actuator assembly.

2. The transmission, a first link directly coupled to the first stator; a second link directly coupled to the second stator; a joint housing slidably coupled to the support structure, the first link, the second link, and directly coupled to the link; The actuator assembly of claim 1 , comprising:

3. The transmission, a first link directly coupled to the first stator; a second link directly coupled to the second stator; a rocker arm rotatably coupled to the support structure, the rocker arm being directly coupled to the first link, the second link, and the link; The actuator assembly of claim 1 , comprising:

4. An actuator assembly as described in claim 1, wherein the transmission comprises a torsion bar coupled to the support structure and the link, the torsion bar configured to twist around a first axis.

5. An actuator assembly as described in claim 4, wherein the spindle defines a second axis parallel to the first axis.

6. An actuator assembly as described in claim 1, wherein the transmission is coupled to both the first stator and the second stator, whereby the first stator causes rotation of the second stator in a 1:1 motion ratio.

7. The spindle defines an axis of rotation; The transmission, a first link directly coupled to the first stator at a first point offset a first radial distance from the axis of rotation, the first link having a first length; a second link directly coupled to the second stator at a second point offset a second radial distance from the axis of rotation, the second link having a second length; and and the first length and the second length are different; or The actuator assembly of claim 1 , wherein one of the first radial distance or the second radial distance is different.

8. When the first stator applies a first torque to the rotor, the first torque generates a first reaction torque that is applied to the first stator; when the second stator applies a second torque to the rotor, the second torque causes a second reaction torque to be applied to the second stator; 2. The actuator assembly of claim 1, wherein when the first reaction torque and the second reaction torque create a residual force, the residual force is separated into a first force component and a second force component, whereby the first force component is configured for transmission to the chassis via the link and the second force component is configured for transmission to the chassis via the support structure and the suspension.

9. A chassis, Wheels and a suspension for facilitating movement of the wheels relative to the chassis; 10. The actuator assembly of claim 1, the support structure is directly coupled to the suspension; the spindle is mounted to the wheel; the link is directly coupled to the chassis; the actuator assembly; A vehicle equipped with:

10. The suspension, a strut having a first end slidably and securely coupled to the support structure and a second end securely coupled to the chassis; a lower control arm coupled to the support structure and the chassis; 10. The vehicle of claim 9, comprising:

11. The vehicle of claim 9, wherein the suspension includes a MacPherson strut suspension.

12. The vehicle of claim 9, wherein the suspension comprises a tie rod coupled to the support structure and the chassis.

13. An actuator assembly for coupling a wheel of a vehicle to a chassis of said vehicle, comprising: a support structure configured to be coupled to the chassis via a suspension; A motor, a spindle rotatably coupled to the support structure and configured to be mounted to the wheel; a rotor mounted on the spindle; a first stator rotatably coupled to the spindle; a second stator rotatably coupled to the spindle; and the motor comprising: a transmission directly coupled to the first stator, the second stator, and the support structure to limit rotational movement of the first stator and the second stator, a first link directly coupled to the first stator; a second link directly coupled to the second stator; a torsion bar coupled to the first link, the second link, and the support structure; a rocker arm rotatably coupled to the support structure, the first link, and the second link; the transmission comprising: a link configured to be directly coupled to the rocker arm and directly coupled to the chassis; Equipped with the support structure, the motor, and the transmission are configured to be translatable together relative to the chassis; The actuator assembly.

14. The spindle defining a first axis; The actuator assembly of claim 13 , wherein the torsion bar is configured to twist about a second axis parallel to the first axis.

15. The spindle defining an axis of rotation; the first link having a first length is directly coupled to the first stator at a first point offset a first radial distance from the axis of rotation; the second link having a second length is directly coupled to the second stator at a second point offset a second radial distance from the axis of rotation; and the first length and the second length are different; or 14. The actuator assembly of claim 13, wherein one of the first radial distance or the second radial distance is different.

16. A chassis; Wheels and a suspension for facilitating movement of the wheels relative to the chassis; 14. The actuator assembly of claim 13, the support structure is directly coupled to the suspension; the spindle is mounted to the wheel; the link is directly coupled to the chassis; the actuator assembly; A vehicle equipped with:

17. The suspension, a strut having a first end slidably and securely coupled to the support structure and a second end securely coupled to the chassis; a lower control arm coupled to the support structure and the chassis; 17. The vehicle of claim 16, comprising:

18. The vehicle of claim 16, wherein the suspension comprises a tie rod coupled to the support structure and the chassis.

19. An actuator assembly for coupling a wheel of a vehicle to a chassis of said vehicle, comprising: a support structure configured to be coupled to the chassis via a suspension; A motor, a spindle rotatably coupled to the support structure and configured to be mounted to the wheel, the spindle defining an axis of rotation; a rotor mounted on the spindle; a first stator rotatably coupled to the spindle; a second stator rotatably coupled to the spindle; and the motor comprising: a transmission directly coupled to the first stator, the second stator, and the support structure to limit rotational movement of the first stator and the second stator, a first link directly coupled to the first stator at a first point offset a first radial distance from the axis of rotation, the first link having a first length; a second link directly coupled to the second stator at a second point offset a second radial distance from the axis of rotation, the second link having a second length; a torsion bar coupled to the first link, the second link, and the support structure; the transmission comprising: a link configured to be directly coupled to the transmission and directly coupled to the chassis; Equipped with the support structure, the motor, and the transmission are configured to be translatable together relative to the chassis, and either the first length and the second length are different, or the first radial distance or the second radial distance are different; The actuator assembly.

20. A chassis, Wheels and a suspension for facilitating movement of the wheels relative to the chassis; 20. The actuator assembly of claim 19, the support structure is directly coupled to the suspension; the spindle is mounted to the wheel; the link is directly coupled to the chassis; the actuator assembly; A vehicle equipped with:

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