The New Compact Continuously Variable Transmission

The reducer is widely used in a variety of machinery, which has the function of reducing speed and increasing torque. But due to the expensive price and complex processing technology of the traditional harmonic reducer and RV reducer, the application of the two transmission in the robotics is limited.The reducer discussed in this article is specially for robot thanks to its compact structure which is based on the nested structure. In this paper, the special structure of the reducer will be analyzed which is composed by V-belt transmission and planetary gear train transmission.To realize its function of continuously variable transmission more convenient, a hydraulic system has been established and its function has been tested.