抄録
A continuous velocity transmission (CVT) can improve the ability of a robotic joint by balancing its torque and velocity according to the task. However, the complexity of existing CVTs has made it difficult to apply them to mobile robots. Therefore I have developed a relatively simple CVT named "Radial crank-CVT (RC-CVT)", which is driven by 2 ball screws. This paper describes the new prototype of RC-CVT, whose maximum output is 100 W, maximum continuous torque is 40 Nm, maximum velocity is 300deg/s, and weight is 1.4kg. In addition, this paper shows the application to a quadruped robot.
