Design and development of a continuously variable transmission system to be used in human-robot interfaces
Mobedi, Emir, author.

Design and development of a continuously variable transmission system to be used in human-robot interfaces

Mobedi, Emir, author.

Yazar Ek Girişi
Mobedi, Emir, author.

Fiziksel Tanımlama
xiii, 113 leaves: color illustrarions, charts;+ 1 computer laser optical disc.

Continuously Variable Transmission (CVT) systems are being used for many applications such as automotive transmissions, robotics, and aerospace. In an ideal condition, these systems have the potential to provide continuously varying power transmission within a predefined limit. This transmission is accomplished with the help of friction, belt or gear systems. CVT can find application in a human-robot interface if a set of design criteria including backdrivability, independent output position and stiffness variation, shock absorbing and low mass and inertia can be satisfied. Even if there are various CVT designs in the literature for human-robot interfaces, the primary limitation of the two-cone drive CVT designs is that the output torque and the output position cannot be altered independently. Considering the friction drive CVT designs, the reason for this problem is that the friction wheel, which is designed to transmit the torque from the input cone to the output cone, gives rise to remarkable longitudinal friction force along the linear way. In order to overcome this problem, a sphere is used in the work presented in this thesis for the CVT design as the transmission element. In addition, it is stated in the literature that common CVT drive systems do not have the capability to be used in cyclic bidirectional motion. In the presented CVT design, a second sphere is added to the system with two springs from the lower part of the cones for pre-tension in order to solve the bidirectional transmission problem. Additionally, an adjustment of the normal force applied on the cones is designed in order to regulate the shock absorption limitations.

Konu Başlığı
Robots -- Control systems.
Manipulators (Mechanism).
Power transmission -- Automatic control.

Yazar Ek Girişi
Dede, Mehmet İsmet Can,

Tüzel Kişi Ek Girişi
İzmir Institute of Technology. Mechanical Engineering.

Tek Biçim Eser Adı
Thesis (Master)--İzmir Institute of Technology: Mechanical Engineering.
İzmir Institute of Technology: Mechanical Engineering--Thesis (Master).

Elektronik Erişim
Access to Electronic Versiyon.

LibraryMateryal TürüDemirbaş NumarasıYer NumarasıDurumu/İade Tarihi
IYTE LibraryTezT001851TJ1049 .M68 2018Tez Koleksiyonu