Power split based Dual Hemispherical Continuously Variable Transmission

Research output: Contribution to journalArticleAcademicpeer-review

2 Citations (Scopus)
109 Downloads (Pure)

Abstract

In this work, we present a new continuously variable transmission concept: the Dual-Hemi Continuously Variable Transmission (CVT). It is designed to have properties we believe are required to apply continuously variable transmissions in robotics to their full potential. These properties are a transformation range that includes both positive and negative ratios, back-drivability under all conditions, kinematically decoupled reconfiguration, high efficiency of the transmission, and a reconfiguration mechanism requiring little work for changing the transmission ratio. The design of the Dual-Hemi CVT and a prototype realisation are discussed in detail. We show that the Dual-Hemi CVT has the aforementioned desired properties. Experiments show that the efficiency of the CVT is above 90% for a large part of the range of operation of the CVT. Significant stiction in the transmission, combined with a relatively low bandwidth for changing the transmission ratio, may cause problems when applying the DH-CVT as part of an actuator in a control loop.

Original languageEnglish
Article number15
Number of pages20
JournalActuators
Volume6
Issue number2
DOIs
Publication statusPublished - 1 Jun 2017

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Reconfiguration
Stiction
Range of data
High Efficiency
Robotics
Actuator
Actuators
Bandwidth
Prototype
Experiment
Experiments
Concepts
Design

Keywords

  • Drives
  • Power transmission
  • Power transmission economics

Cite this

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title = "Power split based Dual Hemispherical Continuously Variable Transmission",
abstract = "In this work, we present a new continuously variable transmission concept: the Dual-Hemi Continuously Variable Transmission (CVT). It is designed to have properties we believe are required to apply continuously variable transmissions in robotics to their full potential. These properties are a transformation range that includes both positive and negative ratios, back-drivability under all conditions, kinematically decoupled reconfiguration, high efficiency of the transmission, and a reconfiguration mechanism requiring little work for changing the transmission ratio. The design of the Dual-Hemi CVT and a prototype realisation are discussed in detail. We show that the Dual-Hemi CVT has the aforementioned desired properties. Experiments show that the efficiency of the CVT is above 90{\%} for a large part of the range of operation of the CVT. Significant stiction in the transmission, combined with a relatively low bandwidth for changing the transmission ratio, may cause problems when applying the DH-CVT as part of an actuator in a control loop.",
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Power split based Dual Hemispherical Continuously Variable Transmission. / Dresscher, Douwe; Naves, Mark; de Vries, Theo J.A.; Buijze, Martijn; Stramigioli, Stefano.

In: Actuators, Vol. 6, No. 2, 15, 01.06.2017.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - Power split based Dual Hemispherical Continuously Variable Transmission

AU - Dresscher, Douwe

AU - Naves, Mark

AU - de Vries, Theo J.A.

AU - Buijze, Martijn

AU - Stramigioli, Stefano

PY - 2017/6/1

Y1 - 2017/6/1

N2 - In this work, we present a new continuously variable transmission concept: the Dual-Hemi Continuously Variable Transmission (CVT). It is designed to have properties we believe are required to apply continuously variable transmissions in robotics to their full potential. These properties are a transformation range that includes both positive and negative ratios, back-drivability under all conditions, kinematically decoupled reconfiguration, high efficiency of the transmission, and a reconfiguration mechanism requiring little work for changing the transmission ratio. The design of the Dual-Hemi CVT and a prototype realisation are discussed in detail. We show that the Dual-Hemi CVT has the aforementioned desired properties. Experiments show that the efficiency of the CVT is above 90% for a large part of the range of operation of the CVT. Significant stiction in the transmission, combined with a relatively low bandwidth for changing the transmission ratio, may cause problems when applying the DH-CVT as part of an actuator in a control loop.

AB - In this work, we present a new continuously variable transmission concept: the Dual-Hemi Continuously Variable Transmission (CVT). It is designed to have properties we believe are required to apply continuously variable transmissions in robotics to their full potential. These properties are a transformation range that includes both positive and negative ratios, back-drivability under all conditions, kinematically decoupled reconfiguration, high efficiency of the transmission, and a reconfiguration mechanism requiring little work for changing the transmission ratio. The design of the Dual-Hemi CVT and a prototype realisation are discussed in detail. We show that the Dual-Hemi CVT has the aforementioned desired properties. Experiments show that the efficiency of the CVT is above 90% for a large part of the range of operation of the CVT. Significant stiction in the transmission, combined with a relatively low bandwidth for changing the transmission ratio, may cause problems when applying the DH-CVT as part of an actuator in a control loop.

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KW - Power transmission economics

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