A novel concept for a translational continuously variable transmission

Continuously Variable Transmissions have the potential to change robotics. When used in a drive train in combination with a spring, they could significantly reduce energy consumption. However, so far these advantages have been shown in theory only. To exploit the concept of a Continuously Variable transmission to its full potential it should have certain properties and be designed with some critical design points in mind. In this work, we propose three properties that a Continuously Variable Transmission needs to have and two critical design points that should be optimised in a design. We propose a novel concept of a lever with a movable pivot where the pivot always moves along the lever. A realisation of this concept is discussed and evaluated with respect to the required properties and critical design points. We conclude that the realisation has the required properties and that the performance on the critical design points can be improved by improving the mechanical design.