Compact capstan

Abstract

A compact capstan includes a drum, a coupled hub, a passage extending through the drum and hub, and a shaft extending through the drum and hub. The shaft engages the passage such that the shaft can transmit a torsional force to the drum and the hub which are free to move along the length of the shaft. The drum includes a spiral groove to receive a cable loop wound around the drum. The hub has a thread with substantially the same pitch as the spiral groove to engage a threaded support such that the hub and the drum move laterally along their length relative to the threaded support as the hub and the drum are rotated. The shaft has a length that is substantially greater than the passage such that the shaft extends beyond both ends of the passage.

1 .- 28 . (canceled) 
     
     
         29 . A compact capstan comprising:
 a drum having a cylindrical surface, a first end, and an opposite second end, the cylindrical surface of the drum having a spiral groove to receive a cable loop wound around the drum;   a threaded hub coupled to the first end of the drum, the threaded hub to engage a threaded support, the threaded hub and the drum to move together laterally along their length relative to the threaded support in response to being rotated;   a ball spline nut coupled to the drum and the hub; and   a splined shaft rotatably supported in a fixed relationship to the threaded support, the splined shaft engaging the ball spline nut to transmit a torsional force to rotate the drum and the hub, the ball spline nut, the drum and the hub being free to move along the length of the splined shaft.   
     
     
         30 . The compact capstan of  claim 29 , wherein the ball spline nut has a diameter that is similar to a diameter of the hub and the ball spline nut is located substantially within the drum. 
     
     
         31 . The compact capstan of  claim 29 , wherein the drum further includes two cable attachment points, each cable attachment point being at an end of the spiral groove for receiving an end of a segment of the cable loop. 
     
     
         32 . The compact capstan of  claim 29 , wherein the drum and hub include a passage extending from an end of the drum through to an end of the hub furthest from the drum, and the shaft has a length that is substantially greater than a length of the passage, the shaft passing through the passage and extending beyond both ends of the passage. 
     
     
         33 . The compact capstan of  claim 29 , the hub includes a thread with substantially the same pitch as the spiral groove of the drum. 
     
     
         34 . A compact capstan drive comprising:
 a capstan support having a threaded portion;   a motor coupled to the capstan support, the motor having a drive shaft with an axis of rotation; and   a capstan coupled to the threaded portion of the capstan support, the capstan including   a drum having a spiral groove on a cylindrical surface, the spiral groove to receive a cable loop wound around the drum;   a hub coupled to the drum, the hub having a thread to engage the threaded portion of the capstan support, the hub and the drum to move laterally along their length relative to the threaded support in response to being rotated;   a ball spline nut coupled to the drum and the hub; and   a splined shaft coupled to the drive shaft of the motor, the splined shaft engaging the ball spline nut to transmit a torsional force to rotate the drum and the hub, the ball spline nut, the drum, and the hub being free to move along the length of the splined shaft.   
     
     
         35 . The compact capstan drive of  claim 34 , wherein the ball spline nut has a diameter that is similar to a diameter of the hub and the ball spline nut is located substantially within the drum. 
     
     
         36 . The compact capstan drive of  claim 34 , wherein the drum further includes two cable attachment points, each cable attachment point being at an end of the spiral groove for receiving an end of a segment of the cable loop. 
     
     
         37 . The compact capstan drive of  claim 34 , further comprising two take off pulleys rotatably coupled to the support structure. 
     
     
         38 . The compact capstan drive of  claim 34 , wherein the spiral groove of the drum has substantially the same pitch as the threaded passage. 
     
     
         39 . The compact capstan drive of  claim 34 , wherein the drum and the hub include a passage extending from an end of the drum through to an end of the hub furthest from the drum, and the shaft has a length that is substantially greater than a length of the passage, the shaft passing through the passage and extending beyond both ends of the passage. 
     
     
         40 . A compact capstan drive comprising:
 a cable receiving means to receive a cable loop;   a moving means to move a take off point of the cable receiving means laterally as the cable receiving means is rotated; and   a transmitting means to transmit a torsional force to rotate the cable receiving means, as it is rotated the cable receiving means is free to move laterally with respect to the transmitting means, the transmitting means including a splined shaft and a ball spline nut that engages the splined shaft.   
     
     
         41 . The compact capstan drive of  claim 40 , wherein the ball spline nut is located substantially within the cable receiving means. 
     
     
         42 . The compact capstan drive of  claim 40 , wherein the cable receiving means further includes
 an end receiving means to receive an end of a segment of the cable loop.   
     
     
         43 . The compact capstan drive of  claim 40 , further including
 a providing means to provide the torsional force to the cable receiving means.   
     
     
         44 . The compact capstan drive of  claim 40 , further including
 a supporting means to support the providing means and the cable receiving means, wherein the providing means being fixed to the supporting means and the cable receiving means being fixed axially but not laterally to the supporting means.   
     
     
         45 . The compact capstan drive of  claim 44 , further including
 a guiding means to guide the cable loop to and from the cable receiving means.   
     
     
         46 . The compact capstan drive of  claim 45 , wherein the guiding means is fixed laterally to the supporting means. 
     
     
         47 . A method of controlling a cable loop, the method comprising:
 receiving the cable loop in a spiral groove on a cylindrical surface of a drum;   rotating a splined shaft that engages a ball spline nut coupled to the drum to transmit a torsional force while leaving the drum free to move laterally on the splined shaft; and   moving the drum laterally on the splined shaft by a threaded hub coupled to the first end of the drum, the threaded hub engaging a threaded support such that the ball spline nut, the threaded hub and the drum move together laterally along their length relative to the threaded support in response to the ball spline nut, the threaded hub and the drum being rotated by the splined shaft.   
     
     
         48 . The method of  claim 47 , further including guiding the cable loop to and from the drum with two takeoff pulleys, one end of the loop portion of the cable loop extending from a first of the two take off pulleys and the opposite end of the loop portion of the cable loop extending from a second of the two take off pulleys. 
     
     
         49 . The method of  claim 47 , further including energizing a motor coupled to the splined shaft to rotate the splined shaft.