Faculty Advisor

Hoffman, Allen H.

Faculty Advisor

Stafford, Kenneth A.


In FIRST Robotics Competitions, robots often engage in races and pushing matches. The primary objective of this project was to design and produce a continuously variable transmission (CVT) system for the WPI/Mass Academy 2002 entry. Three potential CVT systems were developed and analyzed to determine feasibility and performance. A toroidal CVT was chosen as the final design. This system employs two toroidal shaped disks and two idlers to transmit the torque through the CVT via friction contact. An optimized control system was also developed to synchornize the CVT with the robot and the driver. A prototype was developed, and after conducting tests two transmissions were produced for the driveline. The final design was evaluated against the analytical model and the existing transmission. Success was based on performance results obtained through testing of speed, torque and efficiency.


Worcester Polytechnic Institute

Date Accepted

January 2002


Mechanical Engineering

Project Type

Major Qualifying Project


Restricted-WPI community only

Advisor Department

Mechanical Engineering