Cycloidal magnetic gear with low friction interface

Abstract

A cycloidal electromagnetic device may include an inner element coupled to an eccentric bearing, the inner element configured to convert an eccentric motion into a cycloidal path. A cycloidal electromagnetic device may include an outer element radially outward of the inner element. A cycloidal electromagnetic device may include a plurality of pins extending through corresponding holes of the inner element. A cycloidal electromagnetic device may include a supporting body having a plurality of apertures coupled to the plurality of pins and configured to rotate with the plurality of pins, wherein each of the plurality of pins extends through a respective aperture of the supporting body, and a substantially frictionless interface disposed between each of the plurality of pins and the respective aperture of the supporting body.

Description

CYCLOIDAL MAGNETIC GEAR WITH LOW FRICTION INTERFACECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No.63 / 769,647, filed March 10, 2025, the entire contents of which are incorporated by reference herein in their entirety and for all purposes.STA TEMENT REGARDI G FEDERALLY SPONSORED R& D

[0002] This invention was made with government support under Grant Number 80NSSC24PB320 awarded by the National Aeronautics and Space Administration (NASA). The government has certain rights in the invention.BACKGROUNDField

[0003] The field of this disclosure is electromagnetic devices and magnetic gears. In particular, some implementations are directed to systems and methods for electromagnetic devices and magnetic gears having substantially frictionless interfaces to create frictionless contact between revolving pins transferring torque.Description of the Related Art

[0004] The approaches described in this section are approaches that could be pursued, but not necessarily approaches that have been previously conceived or pursued. Therefore, unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section.

[0005] Mechanical cycloidal gears rely on physical contact between gear teeth, which can lead to wear and tear, noise, and / or efficiency loss over time. Magnetic cycloidal gears employ magnetic forces to reduce these drawbacks, offering non-contact operation, increased efficiency, and / or prolonged gear lifespan. By using magnetic fields, magnetic cycloidal gears transmit torque without physical contact, thereby minimizing friction, wear, and / or maintenance requirements. In some applications, magnetic cycloidal gear design utilizes a substantially frictionless interface disposed between each of a plurality of pins and the respective apertures of the supporting body to reduce friction.SUMMARY

[0006] For purposes of summarizing the disclosure and the advantages achieved over the prior art, certain objects and advantages of the disclosure are described herein. Not all such objects or advantages may be achieved in any particular implementation. Thus, for example, those skilled in the art will recognize that the devices, systems, and methods may be embodied or carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other objects or advantages as may be taught or suggested herein.

[0007] All of these implementations are intended to be within the scope of the devices, systems, and methods herein disclosed. These and other implementations will become readily apparent to those skilled in the art from the following detailed description of the implementations having reference to the attached figures, the devices, systems, and methods not being limited to any particular implementations disclosed.

[0008] In some aspects, the techniques described herein relate to a cycloidal electromagnetic device, the electromagnetic device including: an inner element coupled to an eccentric bearing, the inner element configured to convert an eccentric motion into a cycloidal path; an outer element radially outward of the inner element; a plurality of pins extending through corresponding holes of the inner element; and a supporting body having a plurality of apertures coupled to the plurality of pins and configured to rotate with the plurality of pins, wherein each of the plurality of pins extends through a respective aperture of the supporting body, and a substantially frictionless interface disposed between each of the plurality of pins and the respective aperture of the supporting body.

[0009] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes roller bearing disposed around each of the plurality of pins.

[0010] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes a ball bearing assembly positioned between each of the plurality' of pins and the respective aperture of the supporting body.

[0011] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes a bushing disposed around each of the plurality of pins.

[0012] In some aspects, the techniques described herein relate to an electromagnetic device, wherein each of the plurality of pins resolves within the respective aperture of the supporting body.

[0013] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the supporting body supports the plurality of pins reducing deflection and preventing cantilevered loading of each pin.

[0014] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the supporting body includes an output plate that is configured to provide a second rotational output at a different speed and torque than a rotational input of an input shaft.

[0015] In some aspects, the techniques described herein relate to an electromagnetic device, further including an input shaft configured to receive a rotational input, wherein the eccentric bearing is mounted on the input shaft and induces the eccentric motion.

[0016] In some aspects, the techniques described herein relate to an electromagnetic device, further including an output shaft coupled to the inner element via the plurality of pms, wherein the plurality of pins extend from the output shaft to the inner element, wherein a first end of each pm is coupled to the output shaft and a second end of each pm is coupled to the supporting body, and wherein the plurality of pins extending through the corresponding holes of the inner element causes the output shaft to rotate.

[0017] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the outer element is magnetically coupled with the inner element.

[0018] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element includes a first magnetic material having a first plurality of pole pairs and the outer element includes a second magnetic material having a second plurality of pole pairs arranged to create magnetic fields, wherein the first plurality of pole pairs are arranged to interact with the magnetic fields generated by the second plurality of pole pairs.

[0019] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element and the outer element include respective inner and outer rotors of a gear.

[0020] In some aspects, the techniques described herein relate to an electromagnetic device, further including a non-uniform air gap between the inner element and the outer element.

[0021] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element includes a plurality of phase-shifted elements.

[0022] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plurality of phase-shifted elements include a first element, a second element, and a third element, wherein the second element is disposed longitudinally between the first element and the third element.

[0023] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the second element is larger than the first element and the third element.

[0024] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the second element is at least twice as large as the first element and the third element.

[0025] In some aspects, the techniques described herein relate to an electromagnetic device, wherein an input shaft simultaneously rotates the first element, the second element, and the third element.

[0026] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the first element and the third element are phase-shifted 180 degrees from the second element.

[0027] In some aspects, the techniques described herein relate to an electromagnetic device, wherein an output shaft coupled to the plurality of pms provides a first rotational output at a different speed and torque than a rotational input of an input shaft.

[0028] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element rotates about a center of gravity of the innerelement, and wherein the center of gravity of the inner element rotates about a system axis of the electromagnetic device.

[0029] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plurality of pins rotate coaxially about a system axis of the electromagnetic device.

[0030] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the support body is radially outward from an input shaft.

[0031] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the eccentric bearing includes a bushing.

[0032] In some aspects, the techniques described herein relate to an electromagnetic device including: a magnetic cycloidal gear including an inner element and an outer element radially outward of the inner element; a plurality of pins extending through corresponding holes of the inner element; and a plate having a plurality of apertures coupled to the plurality of pins and configured to rotate with the plurality of pins, each of the plurality of pins extending through a respective aperture of the plate, and a substantially frictionless interface disposed between each of the plurality of pins and the respective aperture of the plate.

[0033] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes roller bearing disposed around each of the plurality of pins.

[0034] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes a ball bearing assembly positioned between each of the plurality of pins and the respective aperture of the plate.

[0035] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes a bushing disposed around each of the plurality of pins.

[0036] In some aspects, the techniques described herein relate to an electromagnetic device, wherein each of the plurality of pins resolves within the respective aperture of the plate.

[0037] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plate supports the plurality of pins and reducing deflectionand preventing cantilevered loading of each pin, wherein the plate is configured to provide a second torque.

[0038] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plate provides a second rotational output at a different speed and torque than a rotational input of an input shaft.

[0039] In some aspects, the techniques described herein relate to an electromagnetic device, further including an input shaft configured to receive a rotational input, wherein an eccentric bearing is mounted on the input shaft induces an eccentric motion, and wherein the inner element is coupled to an eccentric bearing and configured to convert the eccentric motion into a cycloidal path,

[0040] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the eccentric bearing includes a bushing,

[0041] In some aspects, the techniques described herein relate to an electromagnetic device, further including an output shaft coupled to the inner element via the plurality of pins, wherein the plurality of pins extend from the output shaft to the inner element, wherein a first end of each pin is coupled to the output shaft and a second end of each pin is coupled to the plate, and wherein the plurality of pins extending through the corresponding holes of the inner element causes the output shaft to rotate, and wherein the output shaft is configured to provide a first torque.

[0042] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the output shaft provides a first rotational output at a different speed and torque than a rotational input of an input shaft.

[0043] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the outer element is magnetically coupled with the inner element.

[0044] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element includes a first magnetic material having a first plurality of pole pairs and the outer element includes a second magnetic material having a second plurality of pole pairs arranged to create magnetic fields, wherein the first plurality of pole pairs are arranged to interact with the magnetic fields generated by the second plurality of pole pairs.

[0045] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element and the outer element include respective inner and outer rotors of a gear.

[0046] In some aspects, the techniques described herein relate to an electromagnetic device, further including a non-uniform air gap between the inner element and the outer element.

[0047] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element includes a plurality of phase-shifted elements.

[0048] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plurality of phase-shifted elements include a first element, a second element, and a third element, wherein the second element is disposed longitudinally between the first element and the third element.

[0049] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the second element is larger than the first element and the third element.

[0050] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the second element is at least twice as large as the first element and the third element.

[0051] In some aspects, the techniques described herein relate to an electromagnetic device, wherein an input shaft simultaneously rotates the first element, the second element, and the third element.

[0052] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the first element and the third element are phase-shifted 180 degrees from the second element.

[0053] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element rotates about a center of gravity of the inner element, and wherein the center of gravity of the inner element rotates about a system axis of the electromagnetic device.

[0054] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plurality of pins rotate coaxially about a system axis of the electromagnetic device.

[0055] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plate is radially outward from an input shaft.

[0056] In some aspects, the techniques described herein relate to an electromagnetic device including: a rotatable shaft having a central longitudinal axis and including a plurality of eccentric lobes coupled along a length of said rotatable shaft and configured to induce an eccentric motion, wherein each of the plurality of eccentric lobes has an axis of rotation offset from the central longitudinal axis; a magnetic cycloidal gear including an inner element and an outer element radially outward of the inner element, the inner element coupled to the rotatable shaft; and a plurality of pins extending through corresponding holes of the inner element and coupled to a plate configured to rotate with the plurality of pins, the plate supporting the plurality of pins.

[0057] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plurality of eccentric lobes are independently coupled to the rotatable shaft by a with one or more locking features.

[0058] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the locking features includes at least one of pins, locking pins, screws, set screws, fasteners, and threaded fasteners.

[0059] In some aspects, the techniques described herein relate to an electromagnetic device, further including a substantially frictionless interface disposed between each of the plurality of pins and the respective holes of the plate.

[0060] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes roller bearing disposed around each of the plurality of pins.

[0061] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes a ball bearing assembly positioned between each of the plurality of pins and the respective aperture of the plate.

[0062] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the substantially frictionless interface includes a bushing disposed around each of the plurality of pins.

[0063] In some aspects, the techniques described herein relate to an electromagnetic device, wherein each of the plurality of pins resolves within the respective aperture of the plate.

[0064] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plate supports the plurality of pins and reducing defl ection and preventing cantilevered loading of each pin, wherein the plate is configured to provide a second torque,

[0065] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plate provides a second rotational output at a different speed and torque than a rotational input of an input shaft.

[0066] In some aspects, the techniques described herein relate to an electromagnetic device, further including an input shaft configured to receive a rotational input, wherein an eccentric bearing is mounted on the input shaft induces an eccentric motion, and wherein the inner element is coupled to an eccentric bearing and configured to convert the eccentric motion into a cycloidal path.

[0067] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the eccentric bearing includes a bushing.

[0068] In some aspects, the techniques described herein relate to an electromagnetic device, further including an output shaft coupled to the inner element via the plurality of pins, wherein the plurality of pins extend from the output shaft to the inner element, wherein a first end of each pin is coupled to the output shaft and a second end of each pin is coupled to the plate, and wherein the plurality of pins extending through the corresponding holes of the inner element causes the output shaft to rotate, and wherein the output shaft is configured to provide a first torque.

[0069] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the output shaft provides a first rotational output at a different speed and torque than a rotational input of an input shaft.

[0070] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the outer element is magnetically coupled with the inner element.

[0071] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element includes a first magnetic material having a first plurality of pole pairs and the outer element includes a second magnetic material having a second plurality of pole pairs arranged to create magnetic fields, wherein the first plurality of pole pairs are arranged to interact with the magnetic fields generated by the second plurality of pole pairs,

[0072] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element and the outer element include respective inner and outer rotors of a gear.

[0073] In some aspects, the techniques described herein relate to an electromagnetic device, further including a non-uniform air gap between the inner element and the outer element.

[0074] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element includes a plurality of phase-shifted elements.

[0075] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plurality of phase-shifted elements include a first element, a second element, and a third element, wherein the second element is disposed longitudinally between the first element and the third element.

[0076] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the second element is larger than the first element and the third element.

[0077] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the second element is at least twice as large as the first element and the third element.

[0078] In some aspects, the techniques described herein relate to an electromagnetic device, wherein an input shaft simultaneously rotates the first element, the second element, and the third element.

[0079] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the first element and the third element are phase-shifted 180 degrees from the second element.

[0080] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the inner element rotates about a center of gravity of the inner element, and wherein the center of gravity of the inner element rotates about a system axis of the electromagnetic device.

[0081] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plurality of pins rotate coaxially about a system axis of the electromagnetic device.

[0082] In some aspects, the techniques described herein relate to an electromagnetic device, wherein the plate is radially outward from an input shaft. 76.BRIEF DESCRIPTION OF THE DRAWINGS

[0083] These and other features, aspects, and advantages of the disclosure are described with reference to drawings of certain embodiments, which are intended to illustrate, but not to limit, the present disclosure. It is to be understood that the accompanying drawings, which are incorporated in and constitute a part of this specification, are for the purpose of illustrating concepts disclosed herein and may not be to scale.

[0084] FIG. 1 A illustrates a perspective schematic view of a conventional cycloidal mechanical device that utilizes cycloidal motion to transmit torque to a load.

[0085] FIG. 1B illustrates a top schematic view of the conventional cycloidal mechanical device of FIG. 1A.

[0086] FIG. 2A illustrates a schematic perspective view of a cycloidal electromagnetic device (e.g., a cycloidal magnet gear) having magnetic pole pairs.

[0087] FIG. 2B illustrate a front schematic view of the cycloidal electromagnetic device of FIG. 2A.

[0088] FIG. 2C illustrates a side schematic view of the cycloidal electromagnetic device of FIGS. 2A and 2B.

[0089] FIGS. 3 illustrates a perspective schematic view of another exemplary cycloidal electromagnetic device, according to various implementations.

[0090] FIG. 4 illustrates another perspective schematic view of the exemplary' cycloidal electromagnetic device of FIG. 3.

[0091] FIG. 5 illustrates a side cross-sectional views of the exemplary cycloidal electromagnetic device of FIGS. 3 and 4.

[0092] FIG. 6 illustrates another side cross-sectional view of another exemplary' cycloidal electromagnetic device.

[0093] FIG. 7 illustrates a front schematic view of some of the plurality of phase- shifted inner elements and outer element of the cycloidal electromagnetic device of FIGS, 3- 5.

[0094] FIG. 8 illustrates a perspective schematic view of an exemplary' cycloidal electromagnetic device, according to various implementations.

[0095] FIG. 9 illustrates a perspective view of the input shaft of the of the exemplary cycloidal electromagnetic device of FIG. 8.DETAILED DESCRIPTION

[0096] Although several implementations, examples, and illustrations are disclosed below, it will be understood by those of ordinary skill in the art that the devices, systems, and methods described herein extend beyond the specifically disclosed implementations, examples, and illustrations and includes other uses of the devices, systems, and methods and obvious modifications and equivalents thereof. Implementations are described with reference to the accompanying figures, wherein like numerals refer to like elements throughout. The terminology used in the description presented herein is not intended to be interpreted in any limited or restrictive manner simply because it is being used in conjunction with a detailed description of some specific implementations of the devices, systems, and methods. In addition, implementations can comprise several novel features. No single feature is solely responsible for its desirable attributes or is essential to practicing the devices, systems, and methods herein described.

[0097] The present disclosure may be understood by reference to the following detailed description. It is noted that, for purposes of illustrative clarity, certain elements in various drawings may not be drawn to scale, may be represented schematically or conceptually, or otherwise may not correspond exactly to certain physical configurations of implementations.

[0098] Traditional cycloidal magnetic gear design utilizes a cantilevered output shaft that connects one or more pins that guides the cycloidal motion from a concentric position relative to the centerline. During cycloidal motion, said pins are loaded in a cantilevered state which causes deflection at an end of the pins. By supporting the pin on both sides (e.g., a first end and a second end of the pins), the rate and / or amount of deflection can be reduced which can improve gear performance towards that of simulations which neglects deflection. This can be achieved by extending the pins through to a plate that rotates in turn with the pins and is held in a static endcap within the input side of a housing of the cycloidal magnetic gear,

[0099] The high-speed rotor of a cycloidal magnet gear rotates about its own center of gravity (CoG). The CoG of cycloidal magnet gear rotates about a common system CoG, creating the eccentric cycloidal motion. The eccentric motion is created, and controlled, by pins, rods, and / or shafts that are directly affixed to the slow-speed rotor, which rotates coaxially about the system CoG. In some configurations, pins, rods, and / or shafts are sometimes in direct contact with the high-speed rotor or employing contact bushings and / or bearings. Traditionally, pins are arranged on the slow-speed shaft such that loads from the high-speed rotor motion create a cantilevered load on the pins, which causes deflection. By introducing a supporting body on a far side (i.e., second side) of the high-speed rotor, affixed to the pins and rotating with the slow-speed shaft, the deflection of the system can be minimized, improving gear performance, and reducing wear. As used herein, a cycloidal device includes any suitable type of trochoidal device.

[0100] FIG. 1A illustrates a perspective view of a conventional cycloidal mechanical device 100 that utilizes cycloidal motion to transmit torque from an input shaft 116 to a load via an output shaft 114. FIG. 1B illustrates a top schematic view of the conventional cycloidal mechanical device 100. The conventional cycloidal mechanical device 100 can include a cycloidal disk 102, also known as a driving gear, and an output disk 104, also known as a driven gear. The cycloidal disk 102 can be mounted on an offset axis. The cycloidal disk 102 can include a plurality of teeth 106 that follow a cycloidal path of motion — a curve generated by a point on the circumference of a circle as it rolls around another circle. As the cycloidal disk 102 rotates, the plurality of teeth 106 can engage with a ring gear 108 (also known as a pin housing) that can be a stationary and / or fixed ring and having a plurality offixed ring pins 110. The cycloidal disk 102 can interacts with the fixed ring pins 110 to transmit motion.

[0101] In the conventional cycloidal mechanical device 100, the interaction between the cycloidal disk 102 and the ring gear 108 plays a role in its motion and the distribution of forces. As mentioned above, the cycloidal disk 102 has a profile based on a cycloidal curve and moves in an eccentric circular path. Thus, while the cycloidal disk 102 itself rotates around its center, its center is also rotating around a fixed axis. As it moves, the plurality of teeth 106 (e.g., lobes) of the cycloidal disk 102 engage with the fixed ring pins 110 of the ring gear 108, The fixed ring pins 110, which can be evenly spaced around an inner side of the ring gear 108, act as the counterpart to the cycloidal disk 102, As the cycloidal disk 102, the plurality of teeth 106 continuously make contact with these fixed ring pins 110. The shape of the cycloidal disk 102 can ensure smooth engagement with multiple fixed ring pins 110 at once, which allows for a more even distribution of forces during operation. The even distribution of forces helps transfer torque efficiently and reduces localized stress, as no single fixed ring pins 110 or plurality of teeth 106 bears the entire load at any given moment. As the cycloidal disk 102 moves eccentrically, the contact points with the fixed ring pins 110 ensure that torque is transmitted without slipping, providing controlled, precise movement. This interaction distributes the load across several plurality of teeth 106 and fixed ring pins 110 simultaneously, resulting in high torque capacity, minimal backlash, and / or increased durability.

[0102] The output disk 104 can include roller pins 112 extending from a surface of the output disk 104 and through the cycloidal disk 102. The roller pins 112 can be cantilevered. As the cycloidal disk 102 rotates, the cycloidal disk 102 engages with roller pins 112. Additionally, since the cycloidal disk 102 is constantly supported by the ring gear 108, the forces exerted on the roller pins 112 are reduced. The ring gear 108 effectively shares the load, meaning the roller pins 112 experience less bending stress, even though the roller pins 112 are cantilevered. This distribution of forces allows the roller pins 112 to function without needing additional support from the opposite side, which also simplifies assembly and reduces the overall size of the conventional cycloidal mechanical device 100. The roller pins 112 can directly drive the output disk 104 which turns the output shaft 114. The output shaft 114 canbe mechanically coupled to the output disk 104. The output shaft 114 can receive the rotational motion from the cycloidal disk 102 and transfer it to a load.

[0103] The input shaft 116 (e.g., high-speed input shaft) can be coupled to and drive the cycloidal disk 102 at high speeds. The cycloidal disk 102 can convert the rotational input from the input shaft 116 into a reduced rotational speed at the output shaft 114. The cycloidal disk 102 can be coupled to an eccentric bearing 118 of the input shaft 116. The eccentric bearing 118 can cause the input shaft 116 to drive the cycloidal disk 102 in the eccentric motion mentioned above along the offset axis. The eccentricity of the motion causes the cycloidal disk 102 to rotate in a non-uniform, cycloidal motion, which causes the plurality of teeth 106 of the cycloidal disk 102 to engage the fixed ring pins 110.

[0104] FIG. 2A illustrates a perspective view of a cycloidal electromagnetic device 200 (e.g., a cycloidal magnet gear) having magnetic gears. FIG. 2B illustrate a front schematic view of the cycloidal electromagnetic device 200. Cycloidal electromagnetic device can provide for higher gear ratios than non-cycloidal configurations. It should be noted that while the class of gear is known as a cycloidal type gear, the motion need not follow a cycloidal path exactly, for example, the motion path may also be that of a trochoid. For example, cycloidal configurations can possess gear ratios greater than 20:1 versus ratios of up to 10:1 for co-axis configurations. The cycloidal electromagnetic device 200 can include an inner element 210 (e.g., a high-speed inner rotor) and an outer element 220 (e.g., a stator that can be fixed) positioned radially outward of the inner element 210. The outer element 220 can be coupled (e.g., magnetically coupled) with the inner element 210. In some implementations, one of or both of the inner element 210 and / or the outer element 220 can comprise rotors of a gear. Additionally, the cycloidal electromagnetic device 200 can include a non-uniform air gap between the inner element 210 and the outer element 220. Reducing the thickness of the non- uniform air gap between the closest parts of the inner element 210 and outer element 220 can allow for higher torque capabilities. The inner element 210 can rotate about a center of gravity (CoG) along an inner element axis 201 of the inner element 210. Additionally, the CoG of the inner element 210 can rotate about a common system center of gravity (CoG) along a system axis 203 of the cycloidal electromagnetic device 200.

[0105] The inner element 210 can include a first magnetic material 212 that comprises a first plurality’ of pole pairs 214 disposed around the inner element axis 201. Thefirst plurality of pole pairs 214 can include a first polarity region 216 and a second polarity region 218. The first polarity region 216 and / or second polarity region 218 can comprise pieces of permanent magnets. The first plurality of pole pairs 214 can comprise an alternating pattern of the first polarity region 216 and second polarity region 218 (e.g., the first polarity region 216 can be magnetized in a radially outward direction, while the second polarity region 218 can be magnetized in a radially inward direction, or vice versa). The first magnetic material 212 can be disposed around an outer surface of the of the inner element 210 such that the first magnetic material 212 faces the outer element 220, or, more specifically, the second magnetic material 222 of the outer element 220. The inner element 210 having the first magnetic material 212 having a first plurality of pole pairs 214 and the outer element 220 having the second magnetic material 222 having a second plurality of pole pairs 224 can be arranged to create magnetic fields. The first plurality of pole pairs 214 can be arranged to interact with the magnetic fields generated by the second plurality of pole pairs 224. The structure of the outer element 220 can achieve any suitable gear ratio. In some implementations, the first magnetic material 212 and second magnetic material 222 are different. In other implementations, the first magnetic material 212 and second magnetic material 222 are the same.

[0106] The outer element 220 can be a permanent magnetic structure. The outer element 220 can be a surface permanent magnet structure, a Halbach array of magnets, a flux-focusing magnet assembly, a consequent pole magnet assembly, and / or a reluctance structure. The outer element 220 can be located, shaped, and / or configured such that is it radially outward of the inner element 210 and surrounds or at least partially surrounds the inner element 210. The outer element 220 can comprise a second magnetic material 222 including a second plurality of pole pairs 224 disposed about the system axis 203. The second plurality of pole pairs 224 can include a first polarity region 226 and a second polarity region 228. The second plurality of pole pairs 224 can comprise an alternating pattern of the first polarity region 226 and second polarity region 228. The second magnetic material 222 can be disposed on an inside surface of the outer element 220, such that it faces the inner element 210, or, more specifically, the first magnetic material 212 of the inner element 210.

[0107] As shown in FIG. 2A, the cycloidal electromagnetic device 200 can further include an input shaft 202, in which a rotational input is to be applied, can be mechanically coupled to the inner element 210. The inner element 210 can rotate in response to an inputfrom the input shaft 202. The input shaft 202 can be coupled to the inner element 210 via an eccentric bearing 206 mounted to the input shaft 202, which can be mechanically coupled to the inner element 210. The eccentric bearing 206 (e.g., a contact bearing) can induce an eccentric motion, and the inner element 210 can convert the eccentric motion into a cycloidal path. In some implementations, the inner element 210 comprises a bushing (e.g., a contact bushing).

[0108] The cycloidal electromagnetic device 200 can also include an output shaft 204 connected to an output disk 205. The output shaft 204 can provide a rotational output at a different speed and torque than the rotational input of the input shaft 202. The output shaft 204 can be coupled to the inner element 210 via a plurality of pins 208. A first end 208a of each pin 208 can be mechanically coupled to output disk 205 of the output shaft 204. The pins 208 can extend from the output shaft 204 to the inner element 210. The pins 208 can be inserted and extend through corresponding holes 209 of the inner element 210, causing the output shaft 204 to rotate in response to an input to the input shaft 202 turning the inner element 210, The corresponding holes 209 can include bearings (e.g., bushings) in which the pins 208 are positioned within and are allowed to rotate. The pins 208 can rotate coaxially about a system axis 203 of the cycloidal electromagnetic device 200. The pins 208 can guide the cycloidal motion of the inner element 210 from a concentric position relative to a centerline (e.g., inner element axis 201 and / or system axis 203). Also, during cycloidal motion, pins 208 are loaded in a cantilevered state which causes deflection. Additionally, the free end of the pins 208 can create uneven loading at the inner element 210 and in implementations in which there are a plurality of inner elements (see FIGS. 3-5 and7-8). The uneven loading can apply additional stress to the bearings and bushings of the cycloidal electromagnetic device 200 which can cause the inner element 210 and outer element 220 to contact one another (e.g., displacing the non-uniform air gap between the inner element 210 and outer element 220). Contact between the inner element 210 and outer element 220 can cause a loss of potential power.

[0109] FIG. 2C illustrates a side schematic view of the cycloidal electromagnetic device 200. As shown in FIG. 2C, the pins 208 extend from the output disk 205 of the output shaft 204 through the corresponding holes 209 of the inner element 210. A second end 208b of each pin 208 opposite the first end 208a can be cantilevered, as discussed above, such that thesecond end 208b is free, extending without support. The pin 208 can rely on the connection at the first end 208a for support and to carry the load acting on the pins 208.

[0110] FIG. 3 illustrates a perspective schematic view of another exemplary cycloidal electromagnetic device 300 with a supporting body 330. FIG. 4 illustrates a perspective schematic view of the exemplary cycloidal electromagnetic device 300 in FIG. 3. FIG. 5 illustrates a side schematic view of the exemplary cycloidal electromagnetic device 300 in FIGS. 3 and 4. FIG. 6 illustrates a side schematic view of another exemplary cycloidal electromagnetic device 300 in which there is only a single rotor (as opposed to a plurality of rotors). The embodiments disclosed herein can be used with any suitable number of rotors, e g., one rotor or a plurality of rotors. Unless otherwise noted, the components of FIGS. 3-6 can be the same as or generally similar to like-numbered components of FIGS, 2A-2C. For example, the exemplary cycloidal electromagnetic device 300 can include an input shaft 202, output shaft 204, output disk 205, eccentric bearing 206, pins 208, corresponding holes 209, inner element 210, and an outer element 220, The exemplary cycloidal electromagnetic device 300 can further include a supporting body 330. In some implementations, the supporting body 330 comprises a plate. The supporting body 330 can be mechanically coupled to the second end 208b of the pins 208. The supporting body 330 can rotate along with the pins 208. Additionally, the supporting body 330 can also support the second end 208b of the pins 208 to reduce deflection and prevent cantilevered loading of the second end 208b and reduce strain. In some implementations, the supporting body 330 extends radially outward from an input shaft 202. The supporting body 330 can be housed in a static endcap 332 in proximity of the input shaft 202. A bearing 334 can be disposed between the supporting body 330 and the static endcap 332 to reduce friction between the supporting body 330 and the static endcap 332 as the supporting body 330 rotates. In some implementations, the bearing 334 can comprise a bushing. Previous cycloidal mechanical devices (see conventional cycloidal mechanical device 100 of FIGS. 1A and IB) could go without a supporting body (e.g., supporting body 330) since the roller pins 112 had limited deflection due in part to the cycloidal disk 102 rotating around the ring gear 108. Further, the roller pins 112 existed to restrict motion and did not take on a load similar to the load applied to the pins 208. However, since the conventional cycloidal mechanical device 100 do not possess the ring gear and roller pin combination as shown in FIGS. 2A-6, there was not a need to include such an additionalunneeded part (e.g., supporting body 330). Additionally, conventional cycloidal mechanical device 100 relied on the physical contact for transferring motion whereas cycloidal electromagnetic devices (e.g., cycloidal electromagnetic device 200 and / or exemplary cycloidal electromagnetic device 300) do not want physical contact between the inner and outer elements (e.g., inner element 210 and / or outer element 220).

[0111] The supporting body 330 can include a plurality of holes 209 (also mentioned herein as “apertures”) coupled to the plurality of pins 208 and configured to rotate with the plurality of pins 208. The supporting body 330 can support the plurality of pins 208 thereby reducing deflection and preventing cantilevered loading of each pin 208. The supporting body 330 can comprise a plate and / or output plate that is configured to provide a second rotational output. In some implementation, the second rotational output is provided at a different speed and torque than a rotational input of the input shaft 202. In some implementations, the output shaft 204 provides a first rotational output at a same speed and torque as the second rotational output of the supporting body 330,

[0112] Each of the plurality of pins 208 can extend through a respective hole 209 of the supporting body 330, allowing for alignment and movement. This configuration enables the pins 208 to articulate or translate within the holes 209 while maintaining structural engagement. To reduce friction and wear, a substantially frictionless interface 336 (e.g., a low-friction interface) can be disposed between each of the plurality of pins 208 and the respective holes 209 of the supporting body 330. The substantially frictionless interface 336 can be configured to reduce resistance to relative motion between the pins 208 and the holes 209 while mitigating material degradation that may result from prolonged contact and movement. The substantially frictionless interface 336 can comprise an interface with a low coefficient of friction that minimizes mechanical resistance. For example, in various embodiments, the substantially frictionless interface 336 can have a coefficient of friction no more than 0.01, no more than 0.005, no more than 0.003, nor more than 0.002, or no more than 0.001, e.g., in a range of 0.001 to 0.25, in a range of 0.001 to 0.05, in a range of 0.001 to 0.005, or in a range of 0.002 to 0.003. For example, in embodiments that utilize plain bearings or bushings (e.g., polymeric bushings), the coefficient of friction can be in a range of 0.05 to 0.25. In embodiments that utilize lower-friction interfaces, such as with roller bearings (e.g., needle bearings (see FIG. 8), ball bearings or angular contact bearings), the interface 336 can have acoefficient of friction of no more than 0.005, no more than 0.003, no more than 0.002, or no more than 0.001. The substantially frictionless interface 336 can be formed using coatings, lubricants, or low-friction materials that facilitate movement between components and enhance durability and operational efficiency. Each of the plurality of pins 208 can thus resolve within the respective holes 209 of the supporting body 330 without additional wear or resistant forces. In some implementations, the substantially frictionless interface 336 comprises roller bearing disposed around each of the plurality of pins 208. The roller bearings facilitate rolling motion between the pins 208 and the supporting body 330, minimizing frictional resistance. The roller bearings can be configured as cylindrical rollers or needle rollers (see, e.g., needle rollers 337 in FIG. 8), which can vary depending on load-bearing and movement constraints. In some implementations, the substantially frictionless interface 336 comprises a ball bearing assembly positioned between each of the plurality of pins 208 and the respective holes 209 of the supporting body 330. The ball bearing assembly can provide multi- directional movement capability, reducing frictional resistance along multiple axes. This configuration supports rotational or oscillatory motion while maintaining load distribution. In some implementations, the substantially frictionless interface 336 comprises a bushing disposed around each of the plurality of pins 208. The bushing can act as an interface that mitigates direct contact wear between the pins 208 and the holes 209. The bushing material can be selected from substantially frictionless polymers, such as PTFE or nylon, or metal composites with embedded lubrication channels. This configuration can provide friction reduction without the complexity of bearing assemblies.

[0113] As shown in FIG. 5, the cycloidal electromagnetic device 300 can comprise a plurality of phase-shifted inner elements 310. For example, the plurality of phase-shifted elements can comprise a first element 310a, a second element 310b, a third element 310c, and a fourth element 310d. The second element 310b and the third element 310c can be disposed longitudinally between the first element 310a and the fourth element 310d. In some implementations, the second element 310b and the third element 310c are larger than the first element 310a and the fourth element 310d or vice versa. For example, the second element 310b and the third element 310c can be at least twice as large as the first element 310a and the fourth element 31 Od. The first element 310a and the fourth element 310d can also be phase-shifted 180 degrees from the second element 310b and the third element 310c.Phase-shifting in the cycloidal electromagnetic device 300 can ensure efficient torque transmission and balance force, moment, and / or center of mass of the cycloidal electromagnetic device 300. By phase shifting the plurality of phase-shifted inner elements 310 (aligning them at specific angles relative to each other), the magnetic fields interact in a way that allows torque to be efficiently transferred. Additionally, the phase shift can also assist in balancing the plurality of phase-shifted inner elements 310 to maintain the structural integrity of the cycloidal electromagnetic device 300 and reduce mechanical stress. During operation of the cycloidal electromagnetic device 300, the input shaft 202 can simultaneously rotate the plurality of phase-shifted inner elements 310 (e.g., the first element 310a, second element 310b, third element 310c, and / or fourth element 310d),

[0114] The cycloidal electromagnetic device 300 can further include outer element 320 (e.g., a stator that can be fixed) positioned radially outward of the phase-shifted inner elements 310. In some implementations, the outer element 320 comprises separate outer elements such that each of the phase-shifted inner elements 310 has a corresponding outer element 320 (e.g., first outer element 320a, second outer element 320b, third outer element 320c, and fourth outer element 320d corresponding to the first element 310a, second element 310b, third element 310c, and fourth element 310d, respectively). Each of the outer elements 320 can have a longitudinal width (e.g., thickness) matching the longitudinal width (e.g., thickness) of the corresponding phase-shifted inner element 310.

[0115] FIG. 7 illustrates a front schematic view of the plurality of phase-shifted inner elements 310 and outer element 320 of the cycloidal electromagnetic device 300. As shown in FIG. 7, each of the plurality of phase-shifted inner elements 310 can include a first magnetic material 212 that comprises a first plurality of pole pairs 214 disposed around the inner element axis 201. The plurality of first plurality of pole pairs 214 can include a first polarity region 216 and a second polarity region 218. The first polarity region 216 and / or second polarity region 218 can comprise pieces of permanent magnets. The first plurality of pole pairs 214 can comprise an alternating pattern of the first polarity’ region 216 and second polarity region 218 (e.g., the first polarity region 216 can be magnetized in a radially outward direction, while the second polarity region 218 can be magnetized in a radially inward direction, or vice versa). The first magnetic material 212 can be disposed around an outer surface of the of the inner element 210 such that the first magnetic material 212 faces the outerelement 220, or, more specifically, the second magnetic material 222 of the outer element 220. The inner element 210 having the first magnetic material 212 having a first plurality of pole pairs 214 and the outer element 220 having the second magnetic material 222 having a second plurality of pole pairs 224 can be arranged to create magnetic fields. The first plurality of pole pairs 214 can be arranged to interact with the magnetic fields generated by the second plurality of pole pairs 224. The structure of the outer element 220 can achieve any suitable gear ratio. In some implementations, the first magnetic material 212 and second magnetic material 222 are different. In other implementations, the first magnetic material 212 and second magnetic material 222 are the same.

[0116] The outer element 220 can be a permanent magnetic structure. The outer element 220 can be a surface permanent magnet structure, a Halbach array of magnets, a fluxfocusing magnet assembly, a consequent pole magnet assembly, and / or a reluctance structure. The outer element 220 can be located, shaped, and / or configured such that is it radially outward of the inner element 210 and surrounds or at least partially surrounds the inner element 210. The outer element 220 can comprise a second magnetic material 222 including a second plurality of pole pairs 224 disposed about the system axis 203. The second plurality of pole pairs 224 can include a first polarity region 226 and a second polarity region 228. The second plurality of pole pairs 224 can comprise an alternating pattern of the first polarity region 226 and second polarity region 228. The second magnetic material 222 can be disposed on an inside surface of the outer element 220, such that it faces the inner element 210, or, more specifically, the first magnetic material 212 of the inner element 210.

[0117] FIG. 8 illustrates a perspective schematic view of an exemplary cycloidal electromagnetic device 800. FIG. 9 illustrates a perspective view of the input shaft 802. Unless otherwise noted, the components of FIGS. 8 and 9 can be the same as or generally similar to like-numbered components of FIGS. 2A-7. For example, the exemplary cycloidal electromagnetic device 800 can include output shaft 204, output disk 205, eccentric bearing 206, pins 208 (not illustrated in FIG. 8), corresponding holes 209, plurality of phase-shifted inner elements 210, outer element 220, and supporting body 330. However, the input shaft 802 can comprises an input shaft 802 having eccentric lobes 840 for opposite phase inner elements 210 (e.g., eccentric rotors). This can allow for the eccentric lobes 840 to be positioned (e.g., threaded) and coupled (e.g., locked) into position while maintaining ease of assemblyand space savings. The eccentric lobes 840 can be coupled onto the input shaft 802 with one or more locking features (e.g., pins, locking pins, screws, set screws, fasteners, threaded fasteners, etc.) for placement along the input shaft 802. The locking features can prevent unintended movement or misalignment of the eccentric lobes 840 during operation of the exemplary cycloidal electromagnetic device 800. In some implementations, the eccentric lobes 840 can comprise four separate lobes 840a, 840b, 840c, 840d independently fixed to the input shaft 802. The plurality of eccentric lobes 840 can be configured to induce an eccentric motion similar to the eccentric bearing 206, Each of the plurality of eccentric lobes 840 can have an axis of rotation offset from the central longitudinal axis 836.

[0118] Furthermore, as shown in FIG. 8, the device 800 can include one or a plurality of needle roller bearings 337 to provide a rolling, low-friction interface. In some embodiments, as explained above the pins 208 (not shown in FIG. 8) can extend through corresponding apertures of the supporting body 330. In other embodiments, however, the use of needle roller bearings within the inner elements 210 can obviate the need for apertures in the supporting body 330. In such embodiments, therefore, the supporting body 330 may not include apertures through which the pins 208 are disposed. Indeed, in such embodiments, the pins 208 can extend through apertures 340 of the inner element 210 and may not positively connect to the supporting body 330. Such an embodiment can simplify the design of the device, reducing costs and providing a low friction (substantially frictionless) interface. For example, as shown in FIG. 8, the inner element 210 can include an inner lobe 339 and an outer plate 341. A substantially frictionless interface can be provided between each pin 208 of the plurality of pins and the inner lobe 339, for example, by way of a needle roller bearing 337A. In addition, a second substantially frictionless interface can be provided between the inner lobe 339 and the outer plate 342 of the inner element 210, for example, by way of a second needle roller bearing 337B. In such embodiments, the pins 208 (not shown for ease of illustration) can be rotationally fixed relative to first needle bearing 337A such that the inner element 210 can rotate freely about the pins 208.

[0119] In the foregoing specification, the systems and processes have been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broaderspirit and scope of the embodiments disclosed herein. The specification and drawings are, accordingly, to be regarded in an illustrative rather than restrictive sense.

[0120] Indeed, although the systems and processes have been disclosed in the context of certain implementations and examples, it will be understood by those skilled in the art that the various implementations of the systems and processes extend beyond the specifically disclosed implementations to other alternative implementations and / or uses of the systems and processes and obvious modifications and equivalents thereof. In addition, while several variations of the implementations of the systems and processes have been shown and described in detail, other modifications, which are within the scope of this disclosure, will be readily apparent to those of skill in the art based upon this disclosure. It is also contemplated that various combinations or sub-combinations of the specific features and implementations of the implementations may be made and still fall within the scope of the disclosure. It should be understood that various features and implementations of the disclosed implementations can be combined with, or substituted for, one another in order to form varying modes of the embodiments of the disclosed systems and processes. Any methods disclosed herein need not be performed in the order recited. Thus, it is intended that the scope of the systems and processes herein disclosed should not be limited by the particular embodiments described above.

[0121] It will be appreciated that the systems and methods of the disclosure each have several innovative implementations, no single one of which is solely responsible or required for the desirable attributes disclosed herein. The various features and processes described above may be used independently of one another or may be combined in various ways. All possible combinations and sub-combinations are intended to fall within the scope of this disclosure.

[0122] Certain features that are described in this specification in the context of separate implementations also may be implemented in combination in a single implementations. Conversely, various features that are described in the context of a single embodiment also may be implemented in multiple implementations separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination may in some cases be excised from the combination, and the claimed combinationmay be directed to a sub-combination or variation of a sub-combination. No single feature or group of features is necessary or indispensable to each and every embodiment.

[0123] Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise,” “comprising,” “include,” “including” and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to.” The word “coupled”, as generally used herein, refers to two or more elements that may be either directly connected, or connected by way of one or more intermediate elements. Likewise, the word “connected”, as generally used herein, refers to two or more elements that may be either directly connected, or connected by way of one or more intermediate elements. Additionally, the words “herein,” “above,” “below,” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of this application. Moreover, as used herein, when a first element is described as being “on” or “over” a second element, the first element may be directly on or over the second element, such that the first and second elements directly contact, or the first element may be indirectly on or over the second element such that one or more elements intervene between the first and second elements. Where the context permits, words in the above Detailed Description using the singular or plural number may also include the plural or singular number, respectively. The word “or” in reference to a list of two or more items, that word covers all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list.

[0124] Moreover, conditional language used herein, such as, among others, “can,” “could,” “might,” “may,” “e.g.,” “for example,” “such as” and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain implementations include, while other implementations do not include, certain features, elements and / or states. Thus, such conditional language is not generally intended to imply that features, elements and / or states are in any way required for one or more embodiments.

[0125] While certain implementations have been described, these implementations have been presented by way of example only, and are not intended to limit the scope of the disclosure. Indeed, the novel apparatus, methods, and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions andchanges in the form of the methods and systems described herein may be made without departing from the spirit of the disclosure. For example, while blocks are presented in a given arrangement, alternative implementations may perform similar functionalities with different components and / or circuit topologies, and some blocks may be deleted, moved, added, subdivided, combined, and / or modified. Each of these blocks may be implemented in a variety of different ways. Any suitable combination of the elements and acts of the various embodiments described above can be combined to provide further implementations. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosure.

[0126] Several illustrative examples of cycloidal electromagnetic devices and related systems and methods have been disclosed. Although this disclosure has been described in terms of certain illustrative examples and uses, other examples and other uses, including examples and uses which do not provide all of the features and advantages set forth herein, are also within the scope of this disclosure. Components, elements, features, acts, or steps may be arranged or performed differently than described and components, elements, features, acts, or steps may be combined, merged, added, or left out in various examples. All possible combinations and subcombinations of elements and components described herein are intended to be included in this disclosure. No single feature or group of features is necessary or indispensable.

[0127] Certain features that are described in this disclosure in the context of separate implementations may also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation also may be implemented in multiple implementations separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination may in some cases be excised from the combination, and the combination may be claimed as a subcombination or variation of a subcombination.

[0128] Further, while illustrative examples have been described, any examples having equivalent elements, modifications, omissions, and / or combinations are also within the scope of this disclosure. Moreover, although certain aspects, advantages, and novel features are described herein, not necessarily ail such advantages may be achieved in accordance withany particular example. For example, some examples within the scope of this disclosure achieve one advantage, or a group of advantages, as taught herein without necessarily achieving other advantages taught or suggested herein. Further, some examples may achieve different advantages than those taught or suggested herein.

[0129] Some examples have been described in connection with the accompanying drawings. The figures may or may not be drawn and / or shown to scale, but such scale should not be limiting, since dimensions and proportions other than what are shown are contemplated and are within the scope of the disclosed devices, systems, and methods. Distances, angles, etc. are merely illustrative and do not necessarily bear an exact relationship to actual dimensions and layout of the devices illustrated. Components may be added, removed, and / or rearranged. Further, the disclosure herein of any particular feature, aspect, method, property, characteristic, quality, attribute, element, or the like in connection with various examples may be used in all other examples set forth herein. Additionally, any methods described herein may be practiced using any device suitable for performing the recited steps.

[0130] For purposes of summarizing the disclosure, certain aspects, advantages and features of several devices, systems, and methods have been described herein. Not all, or any such advantages are necessarily achieved in accordance with any particular example of the devices, systems, and methods disclosed herein. No aspects of this disclosure are essential or indispensable. In many examples, the devices, systems, and methods may be configured differently than illustrated in the figures, or description herein. For example, various functionalities provided by the illustrated modules may be combined, rearranged, added, or deleted. In some implementations, additional or different processors or modules may perform some or all of the functionalities described with reference to the examples described and illustrated in the figures. Many implementation variations are possible. Any of the features, structures, steps, or processes disclosed in this specification may be included in any example.

[0131] As used herein, a phrase referring to “at least one of” a list of items refers to any combination of those items, including single members. As an example, “at least one of: A, B, or C” is intended to cover: A, B, C, A and B, A and C, B and C, and A, B, and C Conjunctive language such as the phrase “at least one of X, Y and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be at least one of X, Y or Z Thus, such conjunctive language is not generallyintended to imply that certain embodiments require at least one of X, at least one of Y, and at least one of Z to each be present. The headings provided herein, if any, are for convenience only and do not necessarily affect the scope or meaning of the devices and methods disclosed herein.

[0132] Accordingly, the claims are not intended to be limited to the implementations shown herein but are to be accorded a fair interpretation consistent with this disclosure, the principles and the novel features disclosed herein.

Claims

WHAT IS CLAIMED IS:

1. A cycloidal electromagnetic device, the electromagnetic device comprising:an inner element coupled to an eccentric bearing, the inner element configured to convert an eccentric motion into a cycloidal path;an outer element radially outward of the inner element;a plurality of pins extending through corresponding holes of the inner element; anda supporting body having a plurality of apertures coupled to the plurality of pins and configured to rotate with the plurality of pins, wherein each of the plurality of pins extends through a respective aperture of the supporting body, and a substantially frictionless interface disposed between each of the plurality of pins and the respective aperture of the supporting body.

2. The electromagnetic device of Claim 1, wherein the substantially frictionless interface comprises roller bearing disposed around each of the plurality of pins.

3. The electromagnetic device of Claim 1, wherein the substantially frictionless interface comprises a ball bearing assembly positioned between each of the plurality of pins and the respective aperture of the supporting body.

4. The electromagnetic device of Claim 1, wherein the substantially frictionless interface comprises a bushing disposed around each of the plurality of pins.

5. The electromagnetic device of Claim 1, wherein each of the plurality of pins resolves within the respective aperture of the supporting body.

6. The electromagnetic device of Claim 1, wherein the supporting body supports the plurality of pins reducing deflection and preventing cantilevered loading of each pm.

7. The electromagnetic device of Claim 1, wherein the supporting body comprises an output plate that is configured to provide a second rotational output at a different speed and torque than a rotational input of an input shaft.

8. The electromagnetic device of Claim 1, further comprising an input shaft configured to receive a rotational input, wherein the eccentric bearing is mounted on the input shaft and induces the eccentric motion.

9. The electromagnetic device of any one of Claims 1 to 8, further comprising an output shaft coupled to the inner element via the plurality of pins, wherein the plurality of pinsextend from the output shaft to the inner element, wherein a first end of each pin is coupled to the output shaft and a second end of each pin is coupled to the supporting body, and wherein the plurality of pins extending through the corresponding holes of the inner element causes the output shaft to rotate.

10. The electromagnetic device of any one of Claims 1 to 9, wherein the outer element is magnetically coupled with the inner element.

11. The electromagnetic device of any one of Claims 1 to 10, wherein the inner element comprises a first magnetic material having a first plurality of pole pairs and the outer element comprises a second magnetic material having a second plurality of pole pairs arranged to create magnetic fields, wherein the first plurality of pole pairs are arranged to interact with the magnetic fields generated by the second plurality of pole pairs.

12. The electromagnetic device of any one of Claims 1 to 11, wherein the inner element and the outer element comprise respective inner and outer rotors of a gear.

13. The electromagnetic device of any one of Claims 1 to 12, further comprising a non-uniform air gap between the inner element and the outer element.

14. The electromagnetic device of any one of Claims 1 to 13, wherein the inner element comprises a plurality of phase-shifted elements.

15. The electromagnetic device of Claim 14, wherein the plurality of phase-shifted elements comprise a first element, a second element, and a third element, wherein the second element is disposed longitudinally between the first element and the third element.

16. The electromagnetic device of Claim 15, wherein the second element is larger than the first element and the third element.

17. The electromagnetic device of Claim 16, wherein the second element is at least twice as large as the first element and the third element.

18. The electromagnetic device of any one of Claims 15 to 17, wherein an input shaft simultaneously rotates the first element, the second element, and the third element.

19. The electromagnetic device of any one of Claims 15 to 18, wherein the first element and the third element are phase-shifted 180 degrees from the second element.

20. The electromagnetic device of any one of Claims 1 to 19, wherein an output shaft coupled to the plurality of pins provides a first rotational output at a different speed and torque than a rotational input of an input shaft.

21. The electromagnetic device of any one of Claims 1 to 20, wherein the inner element rotates about a center of gravity of the inner element, and wherein the center of gravity of the inner element rotates about a system axis of the electromagnetic device.

22. The electromagnetic device of any one of Claims 1 to 21, wherein the plurality of pins rotate coaxially about a system axis of the electromagnetic device.

23. The electromagnetic device of any one of Claims 1 to 22, wherein the support body is radially outward from an input shaft.

24. The electromagnetic device of any one of Claims 1 to 23, wherein the eccentric bearing comprises a bushing,25. An electromagnetic device comprising:a magnetic cycloidal gear comprising an inner element and an outer element radially outward of the inner element;a plurality' of pins extending through corresponding holes of the inner element; anda plate having a plurality of apertures coupled to the plurality of pins and configured to rotate with the plurality of pins, each of the plurality of pins extending through a respective aperture of the plate, and a substantially frictionless interface disposed between each of the plurality of pins and the respective aperture of the plate.

26. The electromagnetic device of Claim 25, wherein the substantially frictionless interface comprises roller bearing disposed around each of the plurality of pins.

27. The electromagnetic device of Claim 25, wherein the substantially frictionless interface comprises a ball bearing assembly positioned between each of the plurality of pins and the respective aperture of the plate.

28. The electromagnetic device of Claim 25, wherein the substantially frictionless interface comprises a bushing disposed around each of the plurality of pins.

29. The electromagnetic device of Claim 25, wherein each of the plurality of pins resolves within the respective aperture of the plate.

30. The electromagnetic device of Claim 25, wherein the plate supports the plurality of pins and reducing deflection and preventing cantilevered loading of each pin, wherein the plate is configured to provide a second torque.

31. The electromagnetic device of Claim 25, wherein the plate provides a second rotational output at a different speed and torque than a rotational input of an input shaft.

32. The electromagnetic device of any one of Claims 25 to 31, further comprising an input shaft configured to receive a rotational input, wherein an eccentric bearing is mounted on the input shaft induces an eccentric motion, and wherein the inner element is coupled to an eccentric bearing and configured to convert the eccentric motion into a cycloidal path.

33. The electromagnetic device of Claim 32, wherein the eccentric bearing comprises a bushing,34. The electromagnetic device of any one of Claims 25 to 33, further comprising an output shaft coupled to the inner element via the plurality of pins, wherein the plurality of pins extend from the output shaft to the inner element, wherein a first end of each pin is coupled to the output shaft and a second end of each pm is coupled to the plate, and wherein the plurality of pins extending through the corresponding holes of the inner element causes the output shaft to rotate, and wherein the output shaft is configured to provide a first torque,35. The electromagnetic device of Claim 34, wherein the output shaft provides a first rotational output at a different speed and torque than a rotational input of an input shaft.

36. The electromagnetic device of any one of Claims 25 to 35, wherein the outer element is magnetically coupled with the inner element.

37. The electromagnetic device of any one of Claims 25 to 36, wherein the inner element comprises a first magnetic material having a first plurality of pole pairs and the outer element comprises a second magnetic material having a second plurality of pole pairs arranged to create magnetic fields, wherein the first plurality of pole pairs are arranged to interact with the magnetic fields generated by the second plurality of pole pairs.

38. The electromagnetic device of any one of Claims 25 to 37, wherein the inner element and the outer element comprise respective inner and outer rotors of a gear.

39. The electromagnetic device of any one of Claims 25 to 38, further comprising a non-uniform air gap between the inner element and the outer element.

40. The electromagnetic device of any one of Claims 25 to 39, wherein the inner element comprises a plurality of phase-shifted elements.

41. The electromagnetic device of Claim 40, wherein the plurality of phase-shifted elements comprise a first element, a second element, and a third element, wherein the second element is disposed longitudinally between the first element and the third element.

42. The electromagnetic device of Claim 41, wherein the second element is larger than the first element and the third element.

43. The electromagnetic device of Claim 42, wherein the second element is at least twice as large as the first element and the third element.

44. The electromagnetic device of any one of Claims 41 to 43, wherein an input shaft simultaneously rotates the first element, the second element, and the third element.

45. The electromagnetic device of any one of Claims 41 to 44, wherein the first element and the third element are phase-shifted 180 degrees from the second element.

46. The electromagnetic device of any one of Claims 25 to 45, wherein the inner element rotates about a center of gravity of the inner element, and wherein the center of gravity of the inner element rotates about a system axis of the electromagnetic device.

47. The electromagnetic device of any one of Claims 25 to 46, wherein the plurality of pins rotate coaxially about a system axis of the electromagnetic device.

48. The electromagnetic device of any one of claims 25 to 47, wherein the plate is radially outward from an input shaft.

49. An electromagnetic device comprising:a rotatable shaft having a central longitudinal axis and comprising a plurality of eccentric lobes coupled along a length of said rotatable shaft and configured to induce an eccentric motion, wherein each of the plurality of eccentric lobes has an axis of rotation offset from the central longitudinal axis;a magnetic cycloidal gear comprising an inner element and an outer element radially outward of the inner element, the inner element coupled to the rotatable shaft; anda plurality of pins extending through corresponding holes of the inner element and coupled to a plate configured to rotate with the plurality of pins, the plate supporting the plurality of pins.

50. The electromagnetic device of Claim 49, wherein the plurality of eccentric lobes are independently coupled to the rotatable shaft by a with one or more locking features.

51. The electromagnetic device of Claim 50, wherein the locking features comprises at least one of pins, locking pins, screws, set screws, fasteners, and threaded fasteners.

52. The electromagnetic device of any one of Claims 49 to 51, further comprising a substantially frictionless interface disposed between each of the plurality of pins and the respective holes of the plate.

53. The electromagnetic device of Claim 52, wherein the substantially frictionless interface comprises roller bearing disposed around each of the plurality of pins.

54. The electromagnetic device of Claim 52, wherein the substantially frictionless interface comprises a ball bearing assembly positioned between each of the plurality of pins and the respective aperture of the plate,55. The electromagnetic device of Claim 52, w'herein the substantially frictionless interface comprises a bushing disposed around each of the plurality of pins,56. The electromagnetic device of Claim 52, wherein each of the plurality of pins revolves within the respective aperture of the plate.

57. The electromagnetic device of Claim 52, wherein the plate supports the plurality of pins and reducing deflection and preventing cantilevered loading of each pin, wherein the plate is configured to provide a second torque.

58. The electromagnetic device of Claim 52, wherein the plate provides a second rotational output at a different speed and torque than a rotational input of an input shaft.

59. The electromagnetic device of any one of Claims 49 to 58, further comprising an input shaft configured to receive a rotational input, wherein an eccentric bearing is mounted on the input shaft induces an eccentric motion, and wherein the inner element is coupled to an eccentric bearing and configured to convert the eccentric motion into a cycloidal path.

60. The electromagnetic device of Claim 59, wherein the eccentric bearing comprises a bushing.

61. The electromagnetic device of any one of Claims 49 to 60, further comprising an output shaft coupled to the inner element via the plurality of pins, wherein the plurality of pins extend from the output shaft to the inner element, wherein a first end of each pin is coupled to the output shaft and a second end of each pm is coupled to the plate, and wherein the pluralityof pins extending through the corresponding holes of the inner element causes the output shaft to rotate, and wherein the output shaft is configured to provide a first torque.

62. The electromagnetic device of Claim 61, wherein the output shaft provides a first rotational output at a different speed and torque than a rotational input of an input shaft.

63. The electromagnetic device of any one of Claims 49 to 62, wherein the outer element is magnetically coupled with the inner element.

64. The electromagnetic device of any one of Claims 49 to 63, wherein the inner element comprises a first magnetic material having a first plurality of pole pairs and the outer element comprises a second magnetic material having a second plurality of pole pairs arranged to create magnetic fields, wherein the first plurality of pole pairs are arranged to interact with the magnetic fields generated by the second plurality of pole pairs.

65. The electromagnetic device of any one of Claims 49 to 64, wherein the inner element and the outer element comprise respective inner and outer rotors of a gear.

66. The electromagnetic device of any one of Claims 49 to 65, further comprising a non-uniform air gap between the inner element and the outer element.

67. The electromagnetic device of any one of Claims 49 to 66, wherein the inner element comprises a plurality of phase-shifted elements.

68. The electromagnetic device of Claim 67, wherein the plurality of phase-shifted elements comprise a first element, a second element, and a third element, wherein the second element is disposed longitudinally between the first element and the third element.

69. The electromagnetic device of Claim 68, wherein the second element is larger than the first element and the third element.

70. The electromagnetic device of Claim 69, wherein the second element is at least twice as large as the first element and the third element.

71. The electromagnetic device of any one of Claims 68 to 70, wherein an input shaft simultaneously rotates the first element, the second element, and the third element.

72. The electromagnetic device of any one of Claims 68 to 71, wherein the first element and the third element are phase-shifted 180 degrees from the second element.

73. The electromagnetic device of any one of Claims 49 to 72, wherein the inner element rotates about a center of gravity of the inner element, and wherein the center of gravity of the inner element rotates about a system axis of the electromagnetic device.

74. The electromagnetic device of any one of Claims 49 to 73, wherein the plurality of pins rotate coaxially about a system axis of the electromagnetic device.

75. The electromagnetic device of any one of claims 49 to 74, wherein the plate is radially outward from an input shaft.

76. A cycloidal electromagnetic device, the electromagnetic device comprising:an inner element coupled to an eccentric bearing, the inner element configured to convert an eccentric motion into a cycloidal path;an outer element radially outward of the inner element; anda plurality of pins extending through corresponding holes of the inner element, wherein each of the plurality of pins extends through a respective aperture of the inner element, and a substantially frictionless interface disposed between each of the plurality of pins and the respective aperture of the inner element.

77. The cycloidal electromagnetic device of Claim 76, further comprising a supporting body to which the plurality of pins are connected,78. The cycloidal electromagnetic device of Claim 77, wherein the supporting body has a second plurality of apertures coupled to the plurality of pins and configured to rotate with the plurality of pin.

79. The cycloidal electromagnetic device of Claim 77, wherein the supporting body does not have apertures through which the plurality of pins extend.

80. The cycloidal electromagnetic device of Claim 76, wherein the inner element comprises an inner lobe and an outer plate, the substantially frictionless interface being between each pm of the plurality of pins and the inner lobe.

81. The cycloidal electromagnetic device of Claim 80, further comprising a second substantially frictionless interface between the inner lobe and the outer plate of the inner element.

82. The cycloidal electromagnetic device of any one of Claims 80-81, wherein the substantially frictionless interfaces and the second frictionless interfaces comprise needle bearings.

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