Design and Modeling of a novel Variable Stiffness mechanism

This paper proposes a new structure of a soft part, which is able to actively regulate its stiffness. The soft part consists of two caps, zigzag inner tube and outer tube. These two tubes will mesh up after the inflation of inner tube. The action of this structure can change the property of cross-section, which results in the variable stiffness. According to material mechanics, the stiffness increment was evaluated as 28.7% theoretically. Actually., the experimental data proves that the meshing structure can promote stiffness by 33.3% at most. The stiffness increment can strengthen the deformation resistance and improve the maximum gripping force of the soft part.