KR102010550B1 - Variable stiffness gripper system - Google Patents

Abstract

The variable rigid gripper system according to the embodiment of the present invention has a structure in which flexible bodies are disposed between a plurality of rigid bodies, respectively, and is connected to a rigid body positioned at a tip among the rigid bodies and connected with other rigid bodies. A variable rigid gripper having a tendon disposed to penetrate through the adults, a gripper body having a rear end of the variable rigid gripper connected to the front part, and a variable rigid gripper disposed at a plurality of installation positions provided at the front part, respectively, and the gripper body. A variable rigid gripper system is provided that includes a gripper controller disposed and connected to a tendon of variable rigid grippers and providing actuation force to the tendon to change the rigidity and shape of the variable rigid gripper.

Description

Variable Rigid Gripper System {VARIABLE STIFFNESS GRIPPER SYSTEM}

The present invention relates to a variable rigid gripper system, and more particularly, to a variable rigid gripper system that can improve the gripping performance of the object by appropriately varying the rigidity.

In general, gripper systems are developing in the form of articulated grippers that resemble human hands. The gripper system as described above is widely used in a field requiring an operation of holding an object, such as an endoscope field or a robot field.

Conventional gripper systems have a structure in which objects and fingers are always in parallel contact with each other, regardless of the shape of the object, so that the gripper performance of the object is inefficient in terms of frictional force.

In addition, the existing gripper system is designed based on the rigid body, so the complete control is required to catch the object. If the gripper system is composed only of a rigid body, the stability of the gripper system can be secured, but a risk may occur depending on the intended use. For example, if a gripper system made of rigid material is applied to the robot's hand, the structural stability may be very good, but if the control is not very precise due to its rigidity, it may cause a problem of breaking when picking up an object such as a glass. .

In order to improve the problems of the rigid-based gripper system as described above, the preference for the soft gripper system is increasing, and the research on it is also progressing in recent years.

For example, Korean Patent No. 10-1359515 (name of the invention: variable rigid structure, registered date: February 25, 2014), a variable rigid structure that can soften or strongly change the rigidity of the structure according to the user's needs Is disclosed.

Soft gripper systems have lower structural stability than rigid-based gripper systems, but have various other advantages. In other words, the soft gripper system is advantageous in that it can smoothly grab objects of various shapes, work with humans, and can handle objects that can be easily damaged, such as agricultural products.

However, the soft gripper system developed to date has a disadvantage in that the weight of the object can be used due to the limitation of structure and material.

Embodiments of the present invention provide a variable rigid gripper system that can improve the gripping performance of an object by appropriately varying the rigidity as needed.

In addition, an embodiment of the present invention provides a variable rigid gripper system capable of effectively grasping a heavy object by structurally improving the rigid and soft bodies of the variable rigid gripper.

In addition, an embodiment of the present invention provides a variable rigid gripper system that can smoothly control the operation of the variable rigid grippers by improving the structure providing the actuation force to the tendons of the variable rigid grippers.

According to one embodiment of the present invention, the flexible body is arranged between the plurality of rigid bodies, each of which is formed long and connected to the rigid body located at the tip of the rigid body and penetrates the other rigid bodies and the flexible body A variable rigid gripper having tendons arranged so as to be arranged, a gripper body having a rear end of the variable rigid gripper connected to the front part and having a variable rigid gripper disposed at a plurality of installation positions provided at the front part, respectively, and a variable rigid gripper disposed on the gripper body A variable rigid gripper system is provided that includes a gripper controller connected to a tendon of grippers and providing an actuation force to the tendon to change the rigidity and shape of the variable rigid gripper.

According to one side, the outer periphery of the flexible body may be formed with wrinkles formed of acid and valleys. The pleats may be formed in a shape surrounding the outer periphery of the flexible body, and a plurality of wrinkles may be continuously provided along the longitudinal direction of the flexible body.

The pleats may be formed in a cross-sectional shape of at least one of triangular, square, trapezoidal or oval.

The flexible body includes an inner flexible body disposed in the center between the rigid bodies and placed through the tendons so as to be located on the central axis of the variable rigid gripper, and an outer peripheral portion of the inner flexible body at a portion other than the central portion between the rigid bodies. It may be disposed in a surrounding shape and may include an outer flexible body formed with wrinkles.

According to one aspect, the rigid body disposed on the front end of the variable rigid gripper may be formed longer than the other rigid bodies, a rubber member for increasing the friction force may be disposed on the surface.

 According to one aspect, one end of the tendon may be connected to a rigid body disposed at the distal end of the variable rigid gripper, and the other end of the tendon may pass through the gripper body after passing through other rigid bodies and flexible bodies except the rigid body, and then the gripper controller. Can be connected to. A tendon passage may be formed in the gripper body to allow tendons of the variable rigid grippers to pass therethrough.

The gripper controller includes: a controller frame disposed at the rear surface of the gripper body and formed in communication with the tendon passage, a tendon reel connected to the other end of the tendons passing through the tendon passage and arranged in a shape in which the tendons are wound around the outer periphery, and the center of the tendon reel; And a tendon control motor coupled to the rotational shaft and rotating the tendon reel to provide the tendons with actuation force for changing the stiffness and shape of the variable rigid grippers.

Here, the tendon reel may be disposed in a position facing the tendon passage.

The tendons may be arranged to be spaced apart from each other in the variable rigid gripper. The tendon reel and the tendon control motor may be provided in a number corresponding to the number of tendons disposed in the variable rigid gripper and may be individually connected to the tendons one by one.

In addition, tendons may be provided in the variable rigid grippers in the same arrangement shape as each other. Tendon reels may be connected to tendons arranged at the same positions of the variable rigid grippers among the tendons.

In the variable rigid gripper system according to the embodiment of the present invention, since the tendon of the variable rigid grippers connected to the gripper body is controlled by the gripper controller, the stiffness and shape of the variable rigid gripper are varied, so that the gripper controller is configured to change the weight and material of the object. And the rigidity and shape of the variable rigid grippers according to the shape and the like can be appropriately changed to significantly improve the gripping performance of the object.

In addition, the variable rigid gripper system according to the embodiment of the present invention has a structure in which the pleats are formed on the outer circumference of the flexible body of the variable rigid gripper, thereby preventing the phenomenon that the flexible body is pushed outward when the variable rigid gripper is rigidly changed. When the shape of the variable rigid gripper is changed, the flexible body can be smoothly bent, and deformation of the flexible body can be reduced as the variable rigidity of the variable rigid gripper is repeated.

In addition, the variable rigid gripper system according to the embodiment of the present invention has a structure in which a rigid member disposed on the front end of the variable rigid gripper is formed longer than other rigid bodies and a rubber member is disposed on the surface. By maximizing the frictional force of the rigid body disposed in the can improve the gripping performance of the object by the variable rigid grippers, it is possible to smoothly grip a heavy weight object.

In addition, since the variable rigid gripper system according to the embodiment of the present invention has a structure in which the tendon reel is rotated by the tendon control motor to provide an actuation force to the tendon, the actuation force provided to the tendon is properly controlled by controlling the operation of the tendon control motor. It can be changed precisely, and thus the rigidity and shape of the variable rigid gripper can be precisely and finely changed.

1 is a view showing a variable rigid gripper system according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of the variable rigid gripper illustrated in FIG. 1.
3 is a cross-sectional view of an essential part of the variable rigid gripper shown in FIG. 2.
4 is a view showing an operating state of the variable rigid gripper shown in FIG.
5 is a diagram illustrating another example of the variable rigid gripper illustrated in FIG. 1.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments. Like reference numerals in the drawings denote like elements.

1 is a diagram illustrating a variable rigid gripper system 100 according to an embodiment of the present invention. 2 is a view illustrating an example of the variable rigid gripper 110 shown in FIG. 1, FIG. 3 is a cross-sectional view of an essential part of the variable rigid gripper 110 illustrated in FIG. 2, and FIG. 2 is a view showing an operating state of the variable rigid gripper 110 shown in FIG. 5 is a diagram illustrating another example of the variable rigid gripper 110 shown in FIG. 1.

Referring to FIG. 1, a variable rigid gripper system 100 according to an embodiment of the present invention includes a variable rigid gripper 110, a gripper body 120, and a gripper controller 130.

Here, the variable rigid gripper system 100 according to the present embodiment has been constructed using three variable rigid grippers 110, but is not limited thereto, and four or more variable rigid grippers 110 may be applied. .

1 to 4, the variable rigid gripper 110 according to the present exemplary embodiment is a member for holding an object and may be elongated in a finger shape. The variable rigid gripper 110 as described above may include a rigid body 200, a flexible body 300, and a tendon 400.

The rigid body 200 is a member formed of a rigid material such as plastic or metal. In the present embodiment, the three rigid bodies 200 are described as being spaced apart from each other in the longitudinal direction of the variable rigid gripper 110. The present invention is not limited thereto and may be variously changed according to a design condition and a situation of the variable rigid gripper system 100.

That is, the rigid body 200 may include a first rigid body 210, a second rigid body 220, and a third rigid body 230. The first rigid body 210 is a rigid body disposed at the front end of the variable rigid gripper 110, and may be formed longer than the other second and third rigid bodies 220 and 230, and a rubber for increasing friction on a surface thereof. Members (not shown) may be disposed. Therefore, the gripping force of the variable rigid gripper 110 may be further improved by the first rigid body 210. The rubber member may be a rubber layer thinly coated on the surface of the first rigid body 210 or may be formed of a rubber pad attached with an adhesive.

The flexible body 300 is a member formed of a flexible material such as silicone or rubber, and may be disposed between the plurality of rigid bodies 200. That is, the flexible body 300 may include a first flexible body 310 and a second flexible body 320. The first flexible body 310 may be located between the first rigid body 210 and the second rigid body 220, and the second flexible body 320 may be the second rigid body 220 and the third rigid body. 230 may be located between.

In addition, the outer circumferential portion of the flexible member 300 may be formed with wrinkles 330 formed of a mountain and a valley. The wrinkle part 330 as described above may be formed in a shape surrounding the outer circumference of the flexible body 300, and a plurality of wrinkles 330 may be continuously provided along the length direction of the flexible body 300. On the other hand, the wrinkles 330 may be formed in a cross-sectional shape of at least one of triangular, square, trapezoidal or oval. Hereinafter, in the present embodiment, the wrinkle part 330 will be described as having a triangular cross-sectional shape.

Therefore, the flexible member 300 may be formed to have an appearance similar to a bellows having wrinkles formed on an outer circumference thereof. If the wrinkle portion 330 is formed on the outer circumference of the flexible body 300 as described above, the flexible body 300 is pushed between the rigid bodies 200 by the wrinkle portion 330 when the flexible body 300 is compressed. In addition to preventing the outgoing phenomenon, the flexible body 300 can be compressed relatively easily, and the flexible body 300 is smoothly bent by the wrinkles 330 when the variable rigid gripper 110 is bent, thereby stably holding the object. It can be lifted up, it is possible to prevent the deformation of the flexible body 300 as the pressing of the flexible body 300 is repeated.

The tendon 400 is a member formed in a wire shape and may adjust the rigidity of the variable rigid gripper 110 or control the shape of the variable rigid gripper 110 by an externally acting force. A plurality of tendons 400 may be disposed in the variable rigid gripper 110, but in this embodiment, two tendons 400 are disposed in the variable rigid gripper 110.

Here, the tendon 400 is connected to the first rigid body 210 positioned at the distal end of the first, second, and third rigid bodies 210, 220, and 230, and the other second and third rigid bodies 220 and 230. ) And the first and second flexible bodies 310 and 320. That is, one end of the tendon 400 may be connected to the first rigid body 210 disposed at the front end of the variable rigid gripper 110, and the other end of the tendon 400 may be other than the first rigid body 210. After passing through the second and third rigid bodies 220 and 230 and the first and second flexible bodies 310 and 320, the second and third rigid bodies 220 and 230 may pass through the gripper body 120 and be connected to the gripper controller 130.

The tendon 400 may include a first tendon 410 and a second tendon 420. The first tendon 410 and the second tendon 420 may be formed of the same material and length, and may be disposed in parallel to each other in the variable rigid gripper 110. In addition, the first tendon 410 and the second tendon 420 may be disposed symmetrically with respect to the central axis of the variable rigid gripper 110.

As illustrated in FIGS. 1 and 4, the first and second tendons 410 and 420 may be provided in the same arrangement shape to the three variable rigid grippers 110 installed in the gripper body 120. The tendon 400 provided in the same arrangement shape as the variable rigid grippers 110 may equally vary the rigidity and the shape of the variable rigid grippers 110 in the direction in which the object is gripped. For example, as shown in FIG. 4, the first tendon 410 may be disposed at a position opposite to the direction in which the variable rigid grippers 110 are bent when the object is held, and the second tendon 420 may be an object. When holding the variable rigid grippers 110 may be disposed at a position in the bending direction.

Meanwhile, the first and second tendons 410 and 420 are formed in the first and second through holes 240 and 340 formed in the second and third rigid bodies 220 and 230 and the first and second flexible bodies 310 and 320. It may be arranged to penetrate. That is, the first through hole part 240 may be formed inside the second and third rigid bodies 220 and 230 to allow the first and second tendons 410 and 420 to pass therethrough, and the first and second edges may be formed. A second through hole 340 may be formed in the adults 310 and 320 to allow the first and second tendons 410 and 420 to pass therethrough. The first through hole part 240 and the second through hole part 340 may be formed in communication with each other.

Referring to FIG. 1, the gripper body 120 according to the present embodiment is a member for supporting the variable rigid grippers 110 for holding an object, and the rear end of the variable rigid gripper 110 is the front portion 122. Can be connected to.

Here, the variable rigid gripper 110 may be disposed at a plurality of installation positions on the front portion 122 of the gripper body 120. As described above, in the present exemplary embodiment, three variable rigid grippers 110 are disposed in a triangular formation on the front portion 122 of the gripper body 120 and bent toward the central portions of the variable rigid grippers 110. do. That is, the variable rigid gripper 110 may include a first variable rigid gripper 112, a second variable rigid gripper 113, and a third variable rigid gripper 114.

In addition, a tendon passage (not shown) may be formed in the gripper body 120 to allow the first and second tendons 410 and 420 of the variable rigid grippers 110 to pass therethrough. The tendon passage as described above may be elongated from the front portion 122 of the gripper body 120 to the rear portion. One end of the tendon passage is branched into three passages toward a portion where the rear ends of the first, second and third variable rigid grippers 112, 114 and 116 are connected, or the first, second and third variable rigid grippers 112 and 114. , 116) may be formed as a single passage including all of the sites to which the rear end is connected.

1 and 4, the gripper controller 130 according to the present embodiment is a member for controlling the stiffness adjustment and the shape change of the first, second, and third variable rigid grippers 112, 114, and 116. And the first and second tendons 410 and 420 disposed on the second and third variable rigid grippers 112, 114, and 116, respectively.

Here, the gripper controller 130 may be disposed on the rear portion of the gripper body 120. The gripper controller 130 as described above has the first and second tendons 410 and 420 for operating forces F1 and F2 for varying the rigidity and shape of the first, second and third variable rigid grippers 112, 114 and 116. Can be provided to

For example, the gripper controller 130 may include a controller frame 132, tendon reels 134, 135, and tendon control motors 136, 137.

The controller frame 132 may be disposed on the rear surface of the gripper body 120 to support the tendon reels 134 and 135 and the tendon control motors 136 and 137. The controller frame 132 may have a passage communicating with the tendon passage.

The tendon reels 134 and 135 may be connected to the other ends of the first and second tendons 410 and 420 passing through the tendon passage, and the first and second tendons 410 and 420 may be wound around the outer circumference. . That is, the tendon reels 134 and 135 may include the first tendon reel 134 in which the first tendon 410 is wound around the outer circumference and the second tendon reel 135 in which the second tendon 420 is wound around the outer circumference. It may include.

Here, the first and second tendon reels 134 and 135 may be formed in the same shape, and may be disposed at positions facing the tendon passage. The first and second tendon reels 134 and 135 as described above may be individually rotated by the first and second tendon control motors 136 and 137 to be described later, and the first and second tendon reels 134 and 135 may be used. As the rotation of the beams is individually adjusted, the action forces F1 and F2 provided to the first and second tendons 410 and 420 may be independently controlled.

The tendon control motors 136 and 137 rotate the first and second tendon reels 134 and 135 to change the stiffness and shape of the first, second and third variable rigid grippers 112, 114 and 116. , F2) may be provided to the first and second tendons 410 and 420. The rotary shafts 137a of the tendon control motors 136 and 137 may be connected to the centers of the tendon reels 134 and 135, respectively.

That is, the tendon control motors 136 and 137 have the first tendon control motor 136 connected to the first tendon reel 134 with a rotating shaft (not shown), and the second tendon reel 135 with the rotating shaft 137a. It may include a connected first tendon control motor 137.

As shown in FIGS. 1 to 4, the tendon reels 134 and 135 and the tendon control motors 136 and 137 according to the present embodiment may be provided to the number of tendons 400 disposed on the variable rigid gripper 110. Correspondingly, the same number as the tendons 400 may be provided. Here, the plurality of tendons 400 may be connected to the tendon reels 134 and 135 individually one by one.

That is, in this embodiment, the first and second tendon reels 134 and 135 and the first and second tendon control motors 136 and 137 are provided corresponding to the first and second tendon 410 and 420. Unlike the present embodiment, if the number of tendons 400 disposed in the variable rigid gripper 110 is increased to four or more, the number of tendons reels and tendon control motors is equal to 4 as the number of tendons 400. More than one may be used. In this case, the four or more tendons 400 may be classified into tendons disposed at positions corresponding to each other on the four or more variable rigid grippers 110 and may be individually connected to four or more tendon reels.

Meanwhile, FIG. 5 illustrates another example of the variable rigid gripper system 100 ′ according to an embodiment of the present invention. In FIG. 5, the same reference numerals as those shown in FIGS. 1 to 4 denote the same members, and a detailed description thereof will be omitted. Hereinafter, description will be made with respect to points different from an example of the variable rigid gripper system 100 illustrated in FIGS. 1 to 4.

Referring to FIG. 5, the flexible rigid gripper system 100 ′ according to the present embodiment differs from the variable rigid gripper system 100 shown in FIGS. 1 to 4 in that the flexible member 300 ′ has two members. It is formed to be disposed on the inner and outer sides are respectively double.

That is, the flexible body 300 ′ may include an inner flexible body 322 and an outer flexible body 324.

The inner flexible body 322 may be disposed in a cylindrical shape at the center between the rigid bodies 200 so as to be positioned on the central axis of the variable rigid gripper 110. A second through hole part 340 ′ may be formed in the inner flexible body 322 so that the tendon 400 may be penetrated.

The outer flexible body 324 may be disposed in a tubular shape so as to surround a center portion between the rigid bodies 200. That is, the outer flexible body 324 may be disposed in a shape surrounding the outer circumferential portion of the first flexible body 300 between the rigid bodies 200. Wrinkles 330 may be formed on the outer circumferential portion of the outer flexible member 324 as described above.

Therefore, in the present embodiment, the inner flexible body 322 can be further utilized relative to the inverse of varying the stiffness and the shape of the variable rigid gripper 110, and the outer flexible body 324 is the flexible body 300 '. When the compression of the flexible body (300 ') is prevented from being pushed out or may be relatively more utilized in the role of smoothly performing the bending of the flexible body (300').

The flexible body 300 ′ as described above includes a first flexible body 310 ′ positioned between the first rigid body 210 and the second rigid body 220, and a second rigid body 220 and a third rigid body 220 ′. It may include a second flexible body 320 ′ positioned between the rigid body 230.

Looking at the operation and effect of the variable rigid gripper system 100 according to an embodiment of the present invention configured as described above are as follows. However, hereinafter, a description will be given with reference to an example of the variable rigid gripper system 100 according to an embodiment of the present embodiment.

First, the object is positioned between the first, second and third variable rigid grippers 112, 114, and 116 to hold or lift the object using the variable rigid gripper system 100.

As shown in FIGS. 1 and 4, when the first and second tendon control motors 136 and 137 are operated, the first and second tendon reels 134 and 135 rotate to form the first and second tendon 410 and 420. ) Is wound around the first and second tendon reels (134, 135). At this time, the first and second tendons 410, 420 is transmitted to the operating force (F1, F2) corresponding to the force of the first and second tendons reel (134, 135) winding the first, second tendons (410, 420). .

As described above, when the first and second tendons 410 and 420 are pulled by the operating forces F1 and F2, the first and second flexible bodies 310 are formed by the first, second and third rigid bodies 210, 220, and 230. , 320 is compressed between the first, second, and third rigid bodies 210, 220, and 230.

In addition, when the first and second flexible bodies 310 and 320 are compressed, the rigidity of the first, second and third variable rigid grippers 112, 114 and 116 may be increased to more stably hold the object.

As shown in FIGS. 1 and 4, when the first and second tendon control motors 136 and 137 rotate at different speeds, the first and second tendon reels 134 and 135 allow the first and second tendon ( The actuation forces F1 and F2 transmitted to 410 and 420 also vary.

As described above, when the first and second tendons 410 and 420 are pulled with different operating forces F1 and F2, the first, second and third variable rigid grippers 112, 114 and 116 may be the first and second tendons 410. , 420 is bent in a direction in which a relatively strong operating force F2 is applied.

That is, among the operating forces F1 and F2 applied to the first tendon 410 and the second tendon 420, the actuation force F2 in the direction of holding the object is larger.

As shown in FIG. 4, when the operating force F2 applied to the second tendon 420 is greater than the operating force F1 applied to the first tendon 410, the variable rigid gripper 110 may operate as the second tendon. The object can be gripped by bending in the direction in which 420 is located.

As described above, since the rigidity of the first, second, and third variable rigid grippers 112, 114, and 116 is bent in the direction of the object, the first, second, and third variable rigid grippers (1, 2, and 3 variable rigid grippers (1) are operated as shown in the dotted line of FIG. The object disposed between 112, 114, and 116 is smoothly gripped.

As described above, the embodiments of the present invention have been described by specific embodiments, such as specific components, and limited embodiments and drawings, but these are provided only to help a more general understanding of the present invention, and the present invention is limited to the above embodiments. Various modifications and variations can be made by those skilled in the art to which the present invention pertains. Therefore, the spirit of the present invention should not be limited to the described embodiments, and all the things that are equivalent to or equivalent to the claims as well as the following claims will belong to the scope of the present invention.

100: variable rigid gripper system
110: variable rigid gripper
120: gripper body
130: gripper controller
200: rigid body
300: flexible
330: wrinkles
400: tendon
F1, F2: Actuation Force

Claims (10)

A variable shape having a structure in which flexible bodies are disposed between a plurality of rigid bodies, which is connected to a rigid body positioned at the tip of the rigid bodies and has a tendon disposed to penetrate the other rigid bodies and the flexible bodies. Rigid gripper;
A gripper body having a rear end of the variable rigid gripper connected to the front side and having the variable rigid gripper respectively disposed at a plurality of installation positions provided at the front side; And
A gripper controller disposed in the gripper body and connected to the tendons of the variable rigid grippers, the gripper controller providing an actuation force to the tendons to change the rigidity and shape of the variable rigid grippers;
The outer periphery of the flexible body is formed with wrinkles formed of a hill and a valley,
The wrinkle part is formed in the shape surrounding the outer peripheral part of a flexible body, and several pieces are continuously provided along the longitudinal direction of a flexible body,
The flexible body may include: an inner flexible body disposed at a center between the rigid bodies so as to be positioned on a central axis of the variable rigid gripper, and the tendon being disposed therethrough; And an outer flexible member formed in a shape surrounding the outer circumferential portion of the inner flexible body at portions other than the central portion between the rigid bodies and having wrinkles formed therein.
delete The method of claim 1,
The fold portion is a variable rigid gripper system, characterized in that formed in the cross-sectional shape of at least one of triangular, square, trapezoidal or oval.
delete The method of claim 1,
A rigid rigid body disposed at the distal end of the variable rigid gripper is formed longer than other rigid bodies, and a rubber member for increasing frictional force is disposed on a surface thereof.
The method of claim 1,
One end of the tendon is connected to a rigid body disposed at the tip of the variable rigid gripper, and the other end of the tendon passes through the gripper body after passing through other rigid bodies and ductiles except the rigid body disposed at the front end of the variable rigid gripper. Connected to the gripper controller,
A gripper body is provided with a tendon passage for tending the tendons of the variable rigid grippers to be penetrated.
The method of claim 6,
The gripper controller
A controller frame disposed at a rear surface of the gripper body and configured to communicate with the tendon passage;
A tendon reel connected to the other end of the tendons passing through the tendon passage and arranged in a shape in which the tendons are wound around the outer periphery; And
A tendon control motor connected to the center of the tendon reel, the tendon control motor providing an actuation force to the tendons to rotate the tendon reel to change the rigidity and shape of the variable rigid grippers;
Variable rigid gripper system comprising a.
The method of claim 7, wherein
The tendon reel is disposed in a position facing the tendon passage.
The method of claim 7, wherein
The tendons are arranged in a plurality of variable rigid grippers spaced apart from each other,
The tendon reel and the tendon control motor are provided in a number corresponding to the number of tendons disposed in the variable rigid gripper, and the variable rigid gripper system is individually connected to the tendons one by one.
delete

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