リンク上の任意の位置に関節を配置可能な移動関節機構

抄録

Conventionally, joint position and link length of robots are designed according to the use and the environment to be used, but it is difficult to change the position during the operation. So, we have proposed a robot that can move joints on the link, change the length of the link and arrange an appropriate position of joints according to the situation even when it is in motion. The robot has chain-like link, and moves joints while switching the rigidness of link. As a result, it can grasp objects which have various sizes and shapes, and search in a narrow space. This mechanism can be widely applied not only as an arm but also as a leg and a search probe.