Compliant transmission system

A method of linear propulsion within a tubular enclosure, the method comprising:

• positioning a compliant transmission system into a tubular enclosure, wherein the compliant transmission system comprises a wave generator and a sleeve fitted on the wave generator, wherein the both the wave generator and the sleeve extend in a longitudinal direction and wherein an outer surface of the sleeve is flush with an inner surface of the tubular enclosure;
• rotating the wave generator with respect to the sleeve;
• generating waves on the sleeve that extend along the longitudinal direction;
• and
• inducing relative linear motion between the sleeve and the tubular enclosure based on the waves that have been generated.

A compliant transmission system comprising:

• a rotatable wave generator having on an external surface thereof a pattern extending both annularly and in a longitudinal direction;
• and
• a sleeve fitted on the wave generator, wherein the sleeve is configured to be deformable and to be impressed on its outer surface with waves extending along the longitudinal direction during rotation of the pattern of the wave generator within the sleeve;
• wherein the outer surface of the sleeve includes a pattern of protruding teeth, wherein the pattern of protruding teeth extends along both the longitudinal direction and an azimuth direction and is a helix.

A compliant transmission system comprising:

• a rotatable wave generator having on an external surface thereof a pattern extending both annularly and in a longitudinal direction;
• and
• a sleeve fitted on the wave generator, wherein the sleeve is configured to be deformable and to be impressed on its outer surface with waves extending along the longitudinal direction during rotation of the pattern of the wave generator within the sleeve;
• wherein the wave generator comprises an array of cams positioned on an axle and wherein the relative phase angle between the array of cams is configured to define the pattern on the external surface of the wave generator, wherein each of the cams in the array includes bearings fitted on the outer surface of the wave generator to reduce the friction between the wave generator and the sleeve during rotation and wherein the sleeve includes a pattern of elongated protruding elements extending from an outer surface of the sleeve, wherein a length of the elongated protruding elements extending from the outer surfaces is 3-10 times longer than a diameter of the protruding elements.

A disposable drug delivery system comprising:

• a tubular enclosure containing a drug to be delivered;
• a movable wall configured to displace the drug contained in the tubular enclosure;
• an outlet through which the drug contained in the tubular enclosure is dispensed;
• and
• a linear propulsion apparatus configured to move the movable wall, said linear propulsion apparatus comprising a compliant transmission system and a rotational actuator coupled to the complaint transmission system;
• wherein said compliant transmission system comprises:
• a rotatable wave generator having on an external surface thereof a pattern extending both annularly and in a longitudinal direction, and a sleeve fitted on the wave generator, wherein the sleeve is configured to be deformable and to be impressed on its outer surface with waves extending along the longitudinal direction during rotation of the pattern of the wave generator within the sleeve.