| Abstract: | A ball transfer mechanism for a harmonic drive and linear piston motor is
disclosed. The ball transfer mechanism includes a spherical ball and a
cylindrical seat portion. The seat portion defines a hemispherical shaped
recess with a contour for receiving the ball. The ball transfer mechanism
is in an exterior wall of a housing for converting rotary motion to
linear motion, driving a linear piston motor. The harmonic drive drives a
rotor of the linear piston motor. The harmonic drive includes a hollow
cylindrical coupler portion engaging a rotor portion for transferring
torque to the rotor portion. Transfer mechanisms disposed along a housing
wall of the linear piston motor engage the coupler portion. The coupler
portion includes harmonic cam grooves for receiving spherical balls in
the ball transfer mechanism that drives rotational motion in the rotor in
response to axially linear movement of the piston assembly. |