柔剛切替可能な連続櫛状関節機構

抄録

We proposed a variable stiffness mechanism with a cord-like structure using comb joints. To provide effective support for disaster response, grippers that can firmly grasp complex shape objects are required. However, high rigidity structure had not been realized by the conventional variable stiffness mechanism and was difficult to grasp heavy objects. For that reason, we developed an articulated cord mechanism that can change the rigidity significantly by using multiple-disc plates in the joints. First, the structure of the comb joint and the basic principle is presented.

Next, the holding torque was analyzed based on Newton’s law. Finally, the characteristics of the prototype were measured, and the effectiveness of the proposed principle was verified through experiments.