| 摘要 |
<p>PCT No. PCT/DE95/00918 Sec. 371 Date Jan. 24, 1997 Sec. 102(e) Date Jan. 24, 1997 PCT Filed Jul. 13, 1995 PCT Pub. No. WO96/03260 PCT Pub. Date Feb. 8, 1996The actuator is in the form of a helical spring. The helical spring in this case has an S-shaped cross-sectional profile and is constructed in such a way that the respectively lower edge overlaps the respectively upper edge of an adjacent spring turn. Tension cables which are guided along eyes on this spring can curve and compress the latter, and the spring can be stretched again by further tension cables, which are preferably provided and are guided in loops around the mutually overlapping edges. In addition, blocking apparatus with which it is possible to deliberately block adjacent spring turns are provided in the form of control elements in the overlap zone. The actuator can be imparted in any desired shape by suitable application of tension and, as the case may be, pressure in conjunction with the blocking apparatus. Fields of application are service robots for use in office or domestic environments, or low-cost production robots.</p> |
