Design and Modeling of a Simple-Structured Continuously Variable Transmission Utilizing Shape Memory Alloy Superelasticity for Twisted String Actuator
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866914217368485888 |
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| author | Xu, Chanchan Dong, Shuai Wang, Xiaojie |
| author_facet | Xu, Chanchan Dong, Shuai Wang, Xiaojie |
| contents | Twisted String Actuators (TSAs) are widely used in robotics but suffer from a limited range of Transmission Ratio (TR) variation, restricting their efficiency under varying loads.To overcome this, we propose a novel lightweight, simple-structured Continuously Variable Transmission (CVT) mechanism for TSA utilizing Shape Memory Alloy (SMA) superelasticity. The CVT mechanism consists solely of a pair of highly lightweight superelastic SMA rods connecting the ends of twisted strings. These rods deform under external loads, adjusting the inter-string distance to enable continuous TR variation.We develop a comprehensive theoretical model that integrates three critical nonlinearities |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_20342 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design and Modeling of a Simple-Structured Continuously Variable Transmission Utilizing Shape Memory Alloy Superelasticity for Twisted String Actuator Xu, Chanchan Dong, Shuai Wang, Xiaojie Instrumentation and Detectors Robotics Twisted String Actuators (TSAs) are widely used in robotics but suffer from a limited range of Transmission Ratio (TR) variation, restricting their efficiency under varying loads.To overcome this, we propose a novel lightweight, simple-structured Continuously Variable Transmission (CVT) mechanism for TSA utilizing Shape Memory Alloy (SMA) superelasticity. The CVT mechanism consists solely of a pair of highly lightweight superelastic SMA rods connecting the ends of twisted strings. These rods deform under external loads, adjusting the inter-string distance to enable continuous TR variation.We develop a comprehensive theoretical model that integrates three critical nonlinearities |
| title | Design and Modeling of a Simple-Structured Continuously Variable Transmission Utilizing Shape Memory Alloy Superelasticity for Twisted String Actuator |
| topic | Instrumentation and Detectors Robotics |
| url | https://arxiv.org/abs/2512.20342 |