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 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

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Carl A. Moore, Michael A. Peshkin, J. Edward Colgate
• Keywords: ICRA 1999, Mechanical Transmission Elements, Robotics, Transmission Elements, Virtual Surfaces