Abstract
Within a predefined limit, continuously variable transmission (CVT) systems can continuously vary the power transmission ratio. The transmission in CVTs is achieved via friction, belt or gear systems. If CVT designs can incorporate backdrivability, independent output position and impedance variation, shock absorbtion, and low mass and inertia, they can be employed in human–robot interfaces. Among various types of CVT designs, the two-cone drive CVT designs have a major drawback since the output torque and position cannot be changed independent of each other. The friction wheel used in this design does not have a holonomic motion capability and causes this inconvenience. In order to overcome this problem, a sphere is used in this work for the CVT design as the transmission element. In addition, it is stated in the literature that common CVT drive systems do not have the capability to be used in cyclic bidirectional motion. In the presented CVT design, a second sphere is added to the system with two springs from the lower part of the cones for pretension in order to solve the bidirectional transmission problem. In this paper, the working principle and conceptual design details of the novel two-cone CVT drive are presented. Experimental results showed that the novel CVT has the capacity to transmit bidirectional power with some accuracy.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Wolf S, Grioli G, Eiberger O, Friedel W, Grebenstein M, Höppner H, Burdet E, Caldwell DG et al (2016) Variable stiffness actuators: review on design and components. IEEE Trans Mechatron 21(5):2418–2430
Ishida T, Takanishi A (2006) A robot actuator development with high backdrivability. In: IEEE conference on automation and mechatronics, pp 1–6
Migliore SA, Brown EA, DeWeerthgn SP (2005) Biologically inspired joint stiffness control. In: ICRA proceedings of the IEEE international conference on robotics and automation, pp 4508–4513
Vanderborght B et al (2013) Variable impedance actuators: a review. J Robot Auton Syst. In: ICRA proceedings of the IEEE international conference on robotics and automation, pp 1601–1614
Ivanov KS, Ualiev G, Tultaev B (2014) Kinematic and force analysis of robot with adaptive electric drives. Appl Mech Mater. J Robot Auton Syst 555:273–280
Faulring EL, Colgate JE, Peshkin MA (2006) The cobotic hand controller: design, control and performance of a novel haptic display. Int J Robot Res 25(11):1099–1119
Kim J (2002) Design and analysis of a spherical continuously variable transmission. J Mech Des 124(1):21–29
Sclater N, Chironis NP (2001) Mechanism and mechanical devices sourcebook. The McGraw-Hill Companies
Martinez MO, Morimoto TK, Taylor AT et al (2016) 3D printed haptic devices for educational applications. In: IEEE haptics symposium, pp 126–133
Acknowledgements
This work is supported in part by The Scientific and Technological Research Council of Turkey via grant number 117M405.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Mobedi, E., Dede, M.İ.C. (2021). A Continuously Variable Transmission System Designed for Human–Robot Interfaces. In: Sen, D., Mohan, S., Ananthasuresh, G. (eds) Mechanism and Machine Science. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-4477-4_3
Download citation
DOI: https://doi.org/10.1007/978-981-15-4477-4_3
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-4476-7
Online ISBN: 978-981-15-4477-4
eBook Packages: EngineeringEngineering (R0)