The architecture of mind: a connectionist approach

A mechanism for providing a cycloidal output motion for an output member in a lineal direction using a constant velocity rotary input motion driving an off-center input shaft and drive gear and utilizing a secondary motion to influence the position of the drive gear in relation to the output member and the acceleration and deceleration of the output member. A compact embodiment utilizes a ring gear and planetary and a reaction motion to provide the secondary input.