Differential actuator

A differential actuator, comprising:

• a shuttle supported for rotation around a central axis, the shuttle including:
• a body portion;
• a first pinion gear connected the body portion;
• and,
• a second pinion gear connected to the body portion;
• a first component supported for rotation around the central axis and including a first plurality of teeth meshed with the first pinion gear;
• and,
• a second component supported for rotation around the central axis and including a second plurality of teeth meshed with the second pinion gear, wherein:
• for a first operating mode of the differential actuator:
• the shuttle is arranged to be rotated, by an actuator, in a first circumferential direction around the central axis;
• the first pinion gear is arranged to rotate the first component in the first circumferential direction;
• the second pinion gear is arranged to rotate the second component in the first circumferential direction;
• facing the differential actuator in an axial direction parallel to the central axis, the first pinion gear is arranged to rotate in one of a clockwise or counter-clockwise direction with respect to the body portion;
• and,
• facing the differential actuator in the axial direction, the second pinion gear is arranged to rotate in the other of the clockwise or counter-clockwise direction with respect to the body portion;
• and,
• for a second operating mode of the differential actuator:
• the shuttle is arranged to be rotated, by the actuator, in a second circumferential direction, opposite the first circumferential direction, around the central axis;
• and,
• the shuttle is arranged to rotate the first component, and not the second component, in the second circumferential direction around the central axis.

A method of operating a differential actuator including a shuttle with a body portion, a first pinion gear connected to the body portion, a second pinion gear connected to the body portion, a first component including a first plurality of teeth meshed with the first pinion gear, and a second component including a second plurality of teeth meshed with the second pinion gear, the method comprising:

• rotating, with an actuator, the shuttle in a circumferential direction around a central axis;
• facing the differential actuator in an axial direction parallel to the central axis, rotating the first pinion gear in one of a clockwise or counter-clockwise direction with respect to the body portion;
• and,
• rotating, with the first pinion gear, the first component in the circumferential direction around the central axis.