Passive torque balancing in a high-frequency oscillating system

A method for generating passively torque-balanced displacement, the method comprising:

• providing a device comprising:
• i)is frame;
• ii) a powered and automated drive actuator mounted to the frame;
• iii) a fulcrum joint coupled with the powered drive actuator;
• iv) a proximate balancing link coupled with the powered drive actuator through the fulcrum joint;
• v) a first plurality of rigid links coupled with the proximate balancing link at a first end region of the proximate balancing link;
• vi) a second plurality of rigid links coupled with the proximate balancing link at a second end region of the proximate balancing link, wherein the first and second end regions of the proximate balancing link respectively include opposite ends of the proximate balancing link;
• vii) a plurality of joints, wherein at least one joint couples the first plurality of rigid links with the proximate balancing link at the first end region of the proximate balancing link, wherein at least one other joint couples the second plurality of rigid links with the proximate balancing link at the second end region of the proximate balancing link, wherein a first set of additional joints couples the first plurality of rigid links with each other in series, and wherein a second set of additional joints couples the second plurality of rigid links with each other in series;
• and
• viii) at least a first and second end effector, wherein the first end effector is coupled with the first plurality of rigid links, and wherein the second end effector is coupled with the second plurality of rigid links;
• generating reciprocating displacement of the drive actuator;
• mapping the reciprocating displacement of the drive actuator
• through the fulcrum joint to the proximate balancing link to displace the proximate balancing link;
• mapping the displacement of the proximate balancing link (a) through at least one joint to displace rigid links in the first plurality of rigid links without full actuation and (b) through at least one additional joint to displace rigid links in the second plurality of rigid links without full actuation;
• and
• mapping the displacement of the first and second remote links to the end effectors respectively joined to the first and second remote links to reciprocatively displace the end effectors.