Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7296
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dc.contributor.authorMobedi, Emir-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.date.accessioned2019-10-03T08:42:15Z
dc.date.available2019-10-03T08:42:15Z
dc.date.issued2019en_US
dc.identifier.citationMobedi, 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.2019.06.024en_US
dc.identifier.issn0094-114X
dc.identifier.issn0094-114X-
dc.identifier.issn1873-3999-
dc.identifier.urihttps://doi.org/10.1016/j.mechmachtheory.2019.06.024
dc.identifier.urihttps://hdl.handle.net/11147/7296
dc.description.abstractNew 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.en_US
dc.description.sponsorshipThis work is supported by The Scientific and Technological Research Council of Turkey via grant number 117M405.en_US
dc.language.isoengen_US
dc.publisherElsevier Ltd.en_US
dc.relation.ispartofMechanism and Machine Theoryen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectContinuously variable transmissionen_US
dc.subjectHuman-robot interfaceen_US
dc.subjectVariable stiffness actuationen_US
dc.titleGeometrical analysis of a continuously variable transmission system designed for human-robot interfacesen_US
dc.typesubmittedVersion
dc.typearticleen_US
dc.authorid0000-0001-6220-6678en_US
dc.contributor.institutionauthorMobedi, Emir-
dc.contributor.institutionauthorDede, Mehmet İsmet Can-
dc.contributor.departmentIzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume140en_US
dc.identifier.startpage567en_US
dc.identifier.endpage585en_US
dc.identifier.wosWOS:000478967700033
dc.identifier.scopusSCOPUS:2-s2.0-85067992052
dc.relation.tubitakinfo:eu-repo/grantAgreement/TUBITAK/MAG/117M405
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1016/j.mechmachtheory.2019.06.024-
dc.relation.doi10.1016/j.mechmachtheory.2019.06.024en_US
dc.coverage.doi10.1016/j.mechmachtheory.2019.06.024en_US
item.openairetypesubmittedVersion-
item.openairetypearticle-
item.cerifentitytypePublications-
item.cerifentitytypePublications-
item.languageiso639-1en-
item.fulltextWith Fulltext-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.grantfulltextopen-
crisitem.author.deptDepartment of Mechanical Engineering-
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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