Dynamic modeling of the Milner continuously variable transmission - The basic kinematics

S Akehurst, D A Parker, S Schaaf

Research output: Contribution to journalArticlepeer-review

17 Citations (SciVal)


In the Milner continuously variable transmission altering the axial separation between two moveable halves of the outer race set allows the radial position of the planet balls to vary, along with the contact positions on the inner and outer races and, hence, the transmission ratio changes. An inelastic analytical model implemented in SIMULINK is presented which allows the component positions, speeds, forces, and torques to be calculated. Use of a free body approach for individual components allows both individual and coupled component motions to be studied. Examples of the steady-state results and experimental verification are presented. Use of the model for dynamic investigations and to improve future versions of the transmission is discussed.
Original languageEnglish
Pages (from-to)1170-1178
Number of pages9
JournalJournal of Mechanical Design
Issue number11
Publication statusPublished - Nov 2007


  • Kinematics
  • Dynamic models
  • Torque measurement
  • Transmissions
  • Force measurement


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