Tapered differential planetary drive

A tapered differential planetary drive, comprising:

• a static outer ring;
• a freely rotating outer ring, wherein the static ring and the freely rotating ring have different diameters;
• a tapered sun gear, wherein the drive has an axis along which the tapered sun gear is disposed, and wherein the sun gear is actuatable to operate the drive;
• a plurality of constant-diameter planet gears disposed around the tapered sun gear, wherein each planet gear is disposed so that its axis of rotation is rotated by an angle relative to the axis of the planetary drive such that the planet gears contact the static ring and the freely rotating ring at some point along their length, and wherein the sun tapered gear is disposed to contact each of the planet gears at a point along their length between the points which contact the static and freely rotating rings and wherein the diameter of the tapered sun gear at the point of contact with each planet gear is twice the distance between the axis of the drive and the edge of that planet gear at the point of contact, such that the contacting force at the contact points between the static ring, freely rotating ring, planetary gears, and sun gear is great enough that traction between these contact points can be made to transmit torque with minimal or no backlash between directions of engagement;
• and
• a carrier supporting the plurality of planet gears such that each planet gear is free to rotate about its own axis and about the axis of the drive while maintaining separation from the other planet gears.