Transmissions play a vital role in machines by transforming the torque and speed of a motor into a desired output. We propose an origami-wheel design that is capable of varying its own transmission ratio between motor torque and ground reaction force, effectively creating a passive, continuously variable transmission. The wheel responds to an increase in torque by reducing its radius through the spring-like properties of the origami structure, increasing the force applied by the wheel to the ground. We demonstrate that the wheel is able to match the speed of a 55 mm fixed-radius wheel when unloaded, and can also tow loads as high as a 25 mm wheel without stalling.

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IEEE Spectrum