@inproceedings{a54dcd6f04eb42d0b0fbef7cacef40da,
title = "Three revolute cobot using CVTs in parallel",
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 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 wheel that couples three CVTs that are connected in parallel.",
author = "Moore, {Carl A.} and Peshkin, {Michael A.} and Colgate, {J. Edward}",
year = "1999",
month = dec,
day = "1",
language = "English (US)",
isbn = "0791816346",
series = "American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC",
publisher = "ASME",
pages = "809--814",
booktitle = "American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC",
note = "Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) ; Conference date: 14-11-1999 Through 19-11-1999",
}