| 摘要 |
PROBLEM TO BE SOLVED: To provide a bending and twisting mechanism and its applications to robotics and energy conversion.SOLUTION: A mechanism includes at least one module M1 having a tubular structure with at least three faces, each of the faces comprising: two parallel longitudinal fibers 1, 4, rigid and inextensible, whose ends are connected through respective ball or elastic joints 0-1, 4-0 to ends of the fibers of contiguous modules or to a base 0; a transverse link 2 connecting the two longitudinal fibers, having a first end rigidly connected to the first fiber and a second end slidably connected to the second fiber, the transverse link 2 being inextensible and having two rotational degrees of freedom; a longitudinal link 32 connecting the transverse link to a homologous transverse link of an adjacent module or to a base via a ball or elastic joint 32-0 and a universal joint 3-32; and an actuator A for changing the length of the longitudinal link. |
