Capstan drive transmission self-tensioning apparatus and method

A method for automatically tensioning a cable of a capstan drive transmission, a first end of said cable being affixed inside a capstan drum at a first location, the method comprising the steps of:

• coupling the cable to a force providing member configured to displace the cable along a path increasing an effective distance between said first end and a second end of the cable thereby increasing a tension within said cable;
• during operation of the capstan drive, allowing motion of said cable along said path upon said tension being below a lower designated level;
• and
• jamming the motion of said cable along an opposite path upon said tension being above an upper designated level.

A self-tensioning capstan drum for transmitting rotational motion from a motor, a shaft of the motor having a cable wounded thereto, the drum comprising:

• a body having a substantial circular profile, comprising an aperture at the center thereof configured to rotatably couple the body to an axis, the body further comprising one or more engagement structures along an outer circumference thereof having the cable engaged thereon to transfer rotational motion from the motor shaft thereto;
• a first anchoring portion configured to receive a fastener for fastening a first end of said cable at a first location on said body;
• a second anchoring portion configured to receive a fastener for fastening a second end of said cable at a second location on said body;
• a linear channel defined within said body;
• a force providing member configured to provide a linear force along the linear channel;
• a rocker positioned and configured to be movable along said linear channel, the rocker coupled to the force providing member to receive said linear force therefrom and further coupled to the cable proximate to the second end thereof so as to displace the cable and receive therefrom a tilting force due to a cable tension;
• and
• wherein upon said tilting force being below a lower designated level, the rocker being oriented so as to be displaced along the linear channel due to said linear force, thereby increasing said cable tension;
• and
• upon said tilting force increasing above a designated level due to said increasing cable tension, the tilting force rotating the rocker to jammingly engage the linear channel and prevent said linear force from further increasing said cable tension.