Shaft couplings

A coupling for transmitting torque from a first axis of rotation to a second axis of rotation that are offset from each other, the coupling comprising:

• a first member configured to rotate about the first axis of rotation, wherein the first member has a first plurality of holes and a second plurality of holes;
• a second member configured to rotate about the second axis of rotation and having a third plurality of holes, wherein the first member and the second member are coupled to each other such that (i) the first axis of rotation of the first member and the second axis of rotation of the second member are parallel and maintained at a set offset distance relative to each other, and (ii) each hole of the third plurality of holes is disposed between a corresponding hole of the first plurality of holes and a corresponding hole of the second plurality of holes;
• a plurality of pins, wherein each respective pin of the plurality of pins is disposed within a respective hole of the first plurality of holes, a respective hole of the second plurality of holes, and a respective hole of the third plurality of holes, wherein the plurality of pins transmit forces resulting in torque between the first member and the second member;
• a housing;
• and
• a third member, wherein the third member comprises an input shaft coupled to a cam, wherein the cam is slidably coupled to the second member such that rotation of the input shaft causes (i) the second axis of rotation to orbit about the first axis of rotation, and (ii) cycloidal motion of the second member relative to the housing.

A coupling for transmitting torque from a first axis of rotation to a second axis of rotation that are offset from each other, the coupling comprising:

• a first member configured to rotate about the first axis of rotation, wherein the first member comprises a first plurality of rods extending from the first member parallel to the first axis;
• a second member configured to rotate about the second axis of rotation, wherein the first member and the second member are coupled to each other such that the first axis of rotation of the first member and the second axis of rotation of the second member are parallel and maintained at a set offset distance relative to each other, wherein the second member comprises a second plurality of rods extending from the second member parallel to the second axis;
• and
• a first plurality of rollers, wherein each respective roller of the first plurality of rollers is in contact with a respective rod of the first plurality of rods and a respective rod of the second plurality of rods, wherein the first plurality of rollers transmits torque from the first member to the second member, and wherein rotation of the first member about the first axis of rotation results in each respective roller of the first plurality of rollers engaging in rolling motion with a respective contact surface of a respective rod of the first plurality of rods.