Design of a 3R cobot using continuously variable transmissions

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 data 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 three-dimensional 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 disk that couples three CVTs directly.