• An efficiency model of a ball traction drive in IVP configuration is developed. • Power recirculation effects are consistently incorporated into the traction model. • A feasibility range of ideal speed ratios with no sustainable motion is identified. • Creep reverses its influence on speed ratio depending on power-flow direction. • Single-idler architecture shows higher efficiency than double-idler in IVP mode.
Cupertino et al. (Sat,) studied this question.