Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7296
Title: Geometrical analysis of a continuously variable transmission system designed for human-robot interfaces
Authors: Mobedi, Emir
Dede, Mehmet İsmet Can
Mobedi, Emir
Dede, Mehmet İsmet Can
Izmir Institute of Technology. Mechanical Engineering
Keywords: Continuously variable transmission
Human-robot interface
Variable stiffness actuation
Issue Date: 2019
Publisher: Elsevier Ltd.
Source: Mobedi, E. and Dede, M. İ. C. (2019). Geometrical analysis of a continuously variable transmission system designed for human-robot interfaces. Mechanism and Machine Theory, 140, 567-585. doi:10.1016/j.mechmachtheory.2019.06.024
Abstract: New robotic systems are placed out of their constrained workspaces in order to work alongside humans. Consequently, these applications call for robots monitoring and regulating physical human-robot interaction. These robots’ mechanical compliance should be varied when they are in physical contact with the human or their changing environments. This compliance variation can be achieved in a variety of ways. However, one common idea is the variation of joint stiffness mechanically, electromechanically or by control. The solution presented in this paper is an electromechanical way of varying the joint stiffness. Among the electromechanical methods for varying the joint stiffness, continuously variable transmission (CVT) systems can be used in human-robot interfaces if a set of design criteria are met. These criteria include backdrivability, independent output position and stiffness variation, shock absorbing and low mass/inertia. In this paper, a novel two-cone CVT design with a double spherical transmission element is introduced by taking into account the abovementioned criteria. Additionally, design parameters are identified via carrying out a geometrical analysis of this new CVT system.
URI: https://doi.org/10.1016/j.mechmachtheory.2019.06.024
https://hdl.handle.net/11147/7296
ISSN: 0094-114X
0094-114X
1873-3999
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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