MOSTS: a mobile robot with a spherical continuously variabletransmission

摘要

Introduces the design and analysis of a type of wheeled mobilerobot that uses a spherical continuously variable transmission (S-CVT)element. The S-CVT is composed of a sphere, input and output discs, andvariators, and power transmission is based on the friction force betweenthe discs and the sphere. Use of the S-CVT allows for smooth operationof the mobile robot over all phases of forward, neutral, and reversemotion without the use of any brakes or clutches. The S-CVT also permitsthe motors to operate in their most power-efficient regimes. Motion inthe plane, including pure rotation about its center is achieved by anovel pivoting device that eliminates the need for an actuated steeringwheel, or an additional motor for differentiating the wheel velocities.We describe the conceptual principle behind our CVT-based mobile robot,and present a complete design and analysis of its capabilities based ona prototype currently under construction