抄録
In adaptable compliant mechanisms, employing nonlinear elasticity materials is common. However, they have some problems as following. The analyzing of materials for the non-linear element is complex, downsizing is difficult. And the response time isn't speedy because the material for the non-linear element must be charged when changing of the articular compliance. So we propose a mechanism using kinematic transmission mechanism (KTM) which is the solution of above problems. This mechanism is composed by links and cams. Using cams, we are able to design freely about input-output of the antagonistically driven joint.
