Gearless torque motor catching structure

An actuated machine comprising:

• a main frame;
• a machine shaft mounted on the main frame by means of a bearing module;
• a gearless torque motor coupled to the machine shaft for driving a rotation of the machine shaft;
• a torque arm coupled to the gearless torque motor;
• and
• a catching structure,
• wherein the gearless torque motor is coupled to the machine shaft such that the gearless torque motor is capable of following a translational movement of the machine shaft and such that the machine shaft carries at least 50% of the gearless torque motor's weight,
• wherein the torque arm is coupled to the gearless torque motor for inhibiting a rotational motion of the gearless torque motor, relative to the main frame, about a central axis of the gearless torque motor,
• wherein the catching structure is arranged directly underneath the gearless torque motor and is arranged and configured to catch and hold the gearless torque motor in case of a failure causing the gearless torque motor's weight to be no longer carried by the machine shaft, and
• wherein the catching structure is separated from the gearless torque motor by an air gap, whereby the weight of the catching structure is not supported by the gearless torque motor.