Fig. 1. Offset twist-roller frictional transmission mechanism

Fig. 2. Kinematic analysis of offset twist-roller frictional transmission mechanism

Fig. 3. Relationship between elliptical spot and twist angle

Fig. 4. Relationship between extrusion depth and contact force

Fig. 5. Rigid flexible coupling model of twist-roller frictional transmission mechanism

Fig. 6. Experimental system of prototype

Fig. 7. Experiment system for relation analysis between twist angle and output characteristics of transmission system

Fig. 8. Relationship between twist angle and angle position

Fig. 9. Effect of twist angle on angular velocity

Fig. 10. Relationship between angle position and pulse number

Fig. 11. Experimental and simulation results of angular resolution