Load-sensitive continuously variable transmission using an oblique feed screw for parallel-jaw grippers

Abstract

In this paper, we describe an oblique feed screw that can be used as a load-sensitive continously variable transmission (CVT). This CVT consists of a screw, spring, and bearing, and it is remarkably simple and compact. Its reduction ratio changes automatically in response to the load, and its weights 13.8 [g]. We have experimentally verified that it can exert a large force of more than 100 [N], that it can increase its reduction ration from 20 to 45.