A compliant Continuously Variable Transmission (CVT)

Continuously Variable Transmissions (CVT) can serve as subsystems for a variety of machineries and robotic systems. A compliant CVT mechanism based on the warping of twisting beams is presented here. The design works based on the demonstrated fact that the twist on one side of a beam can be transferred via sectional warping and propagate across a rotational constraint in the middle of the beam to create a reverse twist on the opposite side. In the proposed compliant CVT the transmission ratio is dependent on the position of the middle rotational constraint which can vary in a continuous range. We have demonstrated this concept and its relation to the twisting beam's warping constant, as well as its functionality for different transmission ratios of 1:4 to 4:1. An analytical model as well as a Finite Element Analysis (FEA) and experiments are employed to characterize and verify the concept and its relation to the warping constant.