Stiffness Changing Spatula Mechanism with Tension-Adjustable Tip Folding Belt

Abstract

In this paper, we propose and realize a spatula mechanism with a folded belt at the tip to scoop and hold a grasped object by bending a thin plate. In addition, a belt tension adjustment function is provided with the same input as that for the stiffness changing of the spatula. This paper discusses the principle of the mechanism, the configuration of the actual machine, and the knowledge of the scooping function obtained from experiments on the actual machine, including its basic operation.