Faculty Advisor

Stafford, Kenneth A.


The primary objective of this project was to design and produce a continuously variable transmission for a mobile robot platform. The innovative approach was to develop a system that could continuously vary the tangential velocity of a wheel without changing its overall angular velocity or diameter. A prototype CVTV, "Uber Wheel," was developed, as well as an optimized control system to automate ratio changes based on system demand. The prototype Uber Wheel and control system were tested using a custom made dynamometer and changes were made resulting in a final design. Success was based on performance criteria which included dynamic response to varying load and input conditions.


Worcester Polytechnic Institute

Date Accepted

April 2011


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Mechanical Engineering

Your accessibility may vary due to other restrictions.