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Toward Improved CVTs: Theoretical and Experimental Results

[+] Author Affiliations
M. E. Brokowski, Songho Kim, J. E. Colgate, Michael Peshkin

Northwestern University, Evanston, IL

R. Brent Gillespie

University of Michigan, Ann Arbor, MI

Paper No. IMECE2002-33680, pp. 855-865; 11 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


Revolute-jointed cobots depend on continuously variable transmissions (CVTs). CVTs constrain the speed ratio between two shafts to a particular value within a continuous range. The spherical CVT is well suited to cobots, but like other point contact transmissions, achieving good performance is challenging. We have studied the contact mechanics of the spherical CVT under certain simplifying assumptions. Results of the calculations are compared to experimental measurements of an instrumented CVT. Improved CVT performance may require better control of compliance and contact forces in the CVT. Results for the contact forces under load conditions are shown. We conclude with a discussion of design implications for improved CVTs.

Copyright © 2002 by ASME



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