A compliant Continuously Variable Transmission (CVT)

Ali Amoozandeh Nobaveh*, Just L. Herder, Giuseppe Radaelli

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

2 Citations (Scopus)
102 Downloads (Pure)


Continuously Variable Transmissions (CVT) can serve as subsystems for a variety of machineries and robotic systems. A compliant CVT mechanism based on the warping of twisting beams is presented here. The design works based on the demonstrated fact that the twist on one side of a beam can be transferred via sectional warping and propagate across a rotational constraint in the middle of the beam to create a reverse twist on the opposite side. In the proposed compliant CVT the transmission ratio is dependent on the position of the middle rotational constraint which can vary in a continuous range. We have demonstrated this concept and its relation to the twisting beam's warping constant, as well as its functionality for different transmission ratios of 1:4 to 4:1. An analytical model as well as a Finite Element Analysis (FEA) and experiments are employed to characterize and verify the concept and its relation to the warping constant.

Original languageEnglish
Article number105281
Number of pages11
JournalMechanism and Machine Theory
Publication statusPublished - 2023


  • Compliant mechanism
  • Continuously Variable Transmission (CVT)
  • Twisting beams
  • Warping


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