Actuator assembly with load-distribution features and related technology

An actuator assembly comprising:

• a first link;
• a second link;
• a joint between the first and second links;
• a motor at the joint and including a rotor and a stator, wherein the motor is configured to rotate the rotor relative to the stator about an axis;
• gearing at the joint and operably associated with the motor, wherein the gearing includes:
• a first transfer member at a first plane perpendicular to the axis, wherein the first transfer member includes a first annular peripheral region and a first annular inner region between the first annular peripheral region and the axis, wherein the first transfer member further includes first lobes and first troughs circumferentially alternating about the axis at the first annular peripheral region, and wherein the first transfer member defines first openings circumferentially distributed about the axis at the first annular inner region, and
• a second transfer member at a second plane perpendicular to the axis, wherein the second transfer member includes a second annular peripheral region and a second annular inner region between the second annular peripheral region and the axis, wherein the second transfer member further includes second lobes and second troughs circumferentially alternating about the axis at the second annular peripheral region, and wherein the second transfer member defines second openings circumferentially distributed about the axis at the second annular inner region;
• and
• rods carried by the first link, circumferentially distributed about the axis, and individually extending through different respective sets of one of the first openings and one of the second openings, wherein the rods individually include a first end portion and an opposite second end portion, wherein the first end portions of the rods are at a third plane perpendicular to the axis, wherein the second end portions of the rods are at a fourth plane perpendicular to the axis, wherein the first and second planes are between the third and fourth planes, and wherein the first link structurally braces the rods via the first and second end portions of the rods.