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Open AccessArticle

Power Split Based Dual Hemispherical Continuously Variable Transmission

Robotics and Mechatronics Group, CTIT Institute, University of Twente, 7522 NB Enschede, The Netherlands
Precision Engineering Group, University of Twente, 7522 NB Enschede, The Netherlands
DEMCON, Institutenweg 25, 7521 PH Enschede, The Netherlands
Author to whom correspondence should be addressed.
Academic Editors: Giorgio Grioli and Sebastian Wolf
Actuators 2017, 6(2), 15;
Received: 26 February 2017 / Revised: 17 March 2017 / Accepted: 29 March 2017 / Published: 10 April 2017
(This article belongs to the Special Issue Variable Stiffness and Variable Impedance Actuators)
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. View Full-Text
Keywords: drives; power transmission; power transmission economics drives; power transmission; power transmission economics
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Dresscher, D.; Naves, M.; De Vries, T.J.A.; Buijze, M.; Stramigioli, S. Power Split Based Dual Hemispherical Continuously Variable Transmission. Actuators 2017, 6, 15.

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