Variable form, reconfigurable structure element with switchable rigidity and robot arm with such a structure element

摘要

The element (1) i.e. link has a form-variable connection between two interfaces (2, 3), where the connection includes several particles (5) in a chamber (6) that is partly limited by a deformable casing (4). The particles are arranged to act against each other with a force such that a relative arrangement of the particles by frictional engagement between the particles preserves a relative arrangement of the two interfaces. The two interfaces and the particles are mechanically connected by the casing, and a movable support joint is connected between the interfaces through the particles.