Twisted String Actuators (TSAs) are widely used in robotics but suffer from a limited range of Transmission Ratio (TR) variation, restricting their efficiency under varying loads.To overcome this, we propose a novel lightweight, simple-structured Continuously Variable Transmission (CVT) mechanism for TSA utilizing Shape Memory Alloy (SMA) superelasticity. The CVT mechanism consists solely of a pair of highly lightweight superelastic SMA rods connecting the ends of twisted strings. These rods deform under external loads, adjusting the inter-string distance to enable continuous TR variation.We develop a comprehensive theoretical model that integrates three critical nonlinearities
翻译：扭绳驱动器在机器人领域应用广泛，但其传动比变化范围有限，制约了其在变负载条件下的效率。为克服此限制，本文提出一种利用形状记忆合金超弹性实现的新型轻量化简易结构连续变速机构。该机构仅由一对连接扭绳末端的超轻质超弹性形状记忆合金杆构成。这些杆件在外部载荷作用下发生形变，通过调节绳间距离实现传动比的连续变化。我们建立了综合理论模型，该模型整合了三个关键非线性因素
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