| 摘要 |
It comprises first and second rotatable elements (200, 300) and driving means (400) for driving them in rotation comprising hydraulic chambers (410, 420, 430) which volume is defined by the relative position of the elements (200, 300) in the plane of rotation and pumps (405) for filling the chambers (410, 420, 430) with fluid to cause their expansion for rotating the elements (200, 300), and pump controlling means (405) for controlling rotation of the elements (200, 300). The volume of chambers (410, 420, 430) is defined by portions (205, 210, 215) of the first element (200) and portions (305, 310, 315) of the second element (300), or by space between portions (205, 210, 215) of the first element (200) with a portion (305, 310, 315) of the second element (300) being movably provided inside chambers (410, 420, 430) defining variable volume sub-chambers (411, 412, 421, 422, 431, 432). |
