Calibration Study of a Continuously Variable Transmission System Designed for pHRI

Mobedi, Emir; Dede, Mehmet İsmet Can

doi:10.1007/978-3-030-55061-5_43

Cited by 2 publications

(1 citation statement)

References 6 publications

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“…9 Mobedi and Dede produced a novel two-cone CVT whose design parameters are identified via carrying out a geometrical analysis. 10,11 Matsushita et al proposed a load-sensitive CVT for wire-driven manipulators, which can realize power transmission by adjusting the transmission ratio with external mechanical structure. 12 Dresscher et al developed a double-hemisphere CVT to improve the efficiency of the motor to 90%.…”

Section: Introductionmentioning

confidence: 99%

Design, analysis, and experiment of an innovative embedded compact continuously variable transmission with flexible metal V-belt

Liu,

Chen,

et al. 2023

International Journal of Advanced Robotic Systems

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The existing deceleration systems in industrial robots often employ rotate vector (RV) or harmonic reducers to augment torque and decrease speed, yet achieving the motor’s peak power proves challenging. Given the extremely high space-size demands for reduction systems in robotic applications, an innovative compact continuously variable transmission is suggested, leveraging the transmission characteristics of spatial gear trains and metallic V-belts. The proposed system utilizes the input of an eccentric shaft to drive the planetary pulley’s rotation around the sun pulley. The pinhole, in cooperation with the eccentric shaft of the planetary pulley, achieves coaxial output of the transmission power. The article primarily explores the transmission and speed change mechanisms, then dissects the relationships between the transmission ratio and the effective radius of the pulley, the axial adjustment distance, and the factors influencing the pulley’s wrapping angle. Further, we use the Lagrange equation to derive the input equation, establishing the correlation between the planetary pulley’s rotation angle and system inertia, angular acceleration, angular velocity, and effective working radius over time. Finally, we simulate the continuously variable transmission’s motion to examine speed changes in forward, reverse, and neutral states. A continuously variable transmission prototype and a testing platform are also constructed to assess performance parameters, specifically input and output torque, and rotational speed.

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Section: Introductionmentioning

confidence: 99%

Design, analysis, and experiment of an innovative embedded compact continuously variable transmission with flexible metal V-belt

Liu,

Chen,

et al. 2023

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

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A Continuously Variable Transmission-Based Variable Stiffness Actuator for pHRI: Design Optimization and Performance Verification

Mobedi,

Can Dede

2024

Journal of Mechanisms and Robotics

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Physical human-robot interfaces (pHRI) enabled the robots to work alongside the human workers complying with the regulations set for physical human-robot interaction systems. A variety of actuation systems named variable stiffness/impedance actuators (VSAs) are configured to be used in these systems' design. Recently, we introduced a new continuously variable transmission (CVT) mechanism as an alternative solution in configuring VSAs for pHRI. The optimization of this CVT has significant importance to enhance its application area and to detect the limitations of the system. Thus, in this paper, we present a design optimization approach (an adjustment strategy) for this system based on the design goals, desired force and minimization of the size of the system. To implement such design goals, the static force analysis of the CVT is performed and validated. Furthermore, the fabrication of the optimized prototype is presented, and the experimental verification is performed considering the requirements of VSAs: independent position and stiffness variation, and shock absorbing. Finally, the system is calibrated to display 6 N continuous output force throughout its transmission variation range.

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Calibration Study of a Continuously Variable Transmission System Designed for pHRI

Cited by 2 publications

References 6 publications

Design, analysis, and experiment of an innovative embedded compact continuously variable transmission with flexible metal V-belt

Design, analysis, and experiment of an innovative embedded compact continuously variable transmission with flexible metal V-belt

A Continuously Variable Transmission-Based Variable Stiffness Actuator for pHRI: Design Optimization and Performance Verification

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