A Three Revolute Cobot Using CVTs in Parallel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Cobots are capable of producing virtual surfaces of high quality, using mechanical transmission elements as their basic element in place of conventional motors. Most cobots built to date have used steerable wheels as their transmission elements. We describe how continuously variable transmissions (CVTs) can be used in this capacity for a cobot with revolute joints. The design of an "arm-like" cobot with a threedimensional workspace is described. This cobot can implement virtual surfaces and other effects in a spherical workspace approximately 1.5 meters in diameter. Novel elements of this cobot include the use of a power wheel that couples three CVTs that are connected in parallel.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages809-814
Number of pages6
ISBN (Electronic)9780791816349
DOIs
StatePublished - 1999
EventASME 1999 International Mechanical Engineering Congress and Exposition, IMECE 1999 - Nashville, United States
Duration: Nov 14 1999Nov 19 1999

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume1999-J

Conference

ConferenceASME 1999 International Mechanical Engineering Congress and Exposition, IMECE 1999
Country/TerritoryUnited States
CityNashville
Period11/14/9911/19/99

ASJC Scopus subject areas

  • Mechanical Engineering

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