Präzise steuerbarer flexibler Aktor

摘要

The invention proposes an actuator in the form of a helical spring (S). The helical spring has an S-shaped cross-section (P) and is formed in such a way that the lower edge (R2) overlaps the upper edge (R1) of an adjacent spring turn (W). The spring can be curved and compressed by tension cables (2) guided on it through eyes (OE) and released again preferably by other cables guided in loops around the overlapping edges. In addition, there are blocking means in the form of adjusters (SG) making it possible deliberately to block adjacent spring turns. By the suitable application of tension and, if necessary, pressure together with the blocking means it is possible to give the actuator of the invention any shape. Fields of application are in office or service robots for use in office or domestic environments or low-cost production robots.