Development of Self-Strength Variable Mechanism Using External Material

In this research, we propose a mechanism that strengthens the robot itself by incorporating surrounding objects in the natural world. The strength and durability required when using a robot vary greatly depending on the application. Therefore, it is necessary to have a mechanism that can switch its own rigidity according to the surrounding conditions. Many of the stiffness-changing robots reported in the past use the phase transition of materials. Although this approach is useful, but there are not many variable stiffnesses. In this research, we examined two types of robot mechanisms that can take in surrounding objects and change their own rigidity. Operational experiments were performed to evaluate the usefulness of each mechanism. We also conducted stress measurements to confirm how much the stiffness actually changes.