| 摘要 |
<p>PROBLEM TO BE SOLVED: To continuously vary rigidity from low rigidity to high rigidity to be capable of performing a dynamic behavior.SOLUTION: A rigidity variable mechanism 100 comprises: an output arm 8; a solid cam 2 including a cam surface 2a; and cam followers 3A, 3B which moves, in accordance with displacement of the output arm 8, relative to the solid cam 2 while contacting with the cam surface 2a. The rigidity variable mechanism 100 includes compression coil springs 4A, 4B which press the cam followers 3A, 3B against the cam surface 2a and supply the output arm 8 with rigidity according to an inclination angle of the cam surface 2a. The rigidity variable mechanism 100 includes an ultrasonic motor 7 which relatively moves the cam followers 3A, 3B on the cam surface 2a in an orthogonal direction orthogonal to a direction along the track of the cam followers 3A, 3B moving on the cam surface 2a in accordance with displacement of the output arm 8. The cam surface 2a is formed so that a curve shape of the cross section on the track becomes different according to a position of the orthogonal direction.</p> |
