Harmonic belt drive

A harmonic belt drive comprising:

• a) a rigid arcuate toothed member having an internal surface, an external surface, and a row of teeth radially extending from said internal surface and a belt portal extending between said internal surface and said external surface;
• b) a multi-lobe cam assembly rotatably mounted concentric to said rigid arcuate toothed member, said multi-lobe cam assembly having planetary rollers rotatably mounted on axles adjacent the center of said cam assembly, said planetary rollers each having a perimeter sidewall;
• and
• c) an elongated toothed belt having an inside surface and an outside surface, said toothed belt being disposable between said multi-lobe cam and said rigid arcuate toothed member, said toothed belt being radially deflectable by said sidewalls, said toothed belt having teeth on its outside surface meshable with the teeth of said rigid arcuate toothed member.

A harmonic belt drive comprising:

• a) a rigid arcuate toothed member having an internal surface, an external surface, and a row of teeth radially extending from said internal surface and a belt portal extending between said internal surface and said external surface;
• b) a multi-lobe cam assembly rotatably mounted concentric to said rigid arcuate toothed member, said multi-lobe cam assembly having a pair of planetary rollers rotatably mounted on axles adjacent the center of said cam assembly, said planetary rollers each having a perimeter sidewall;
• and
• c) an elongated toothed belt disposable between said multi-lobe cam and said rigid arcuate toothed member, said toothed belt being radially deflectable by said sidewalls, said toothed belt having teeth meshable with the teeth of said rigid arcuate toothed member.