JP2018091413A - Telescopic member and robot member - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a telescopic member capable of deforming to a complicated form, minimizing the number of driving devices, and excellent in portability of a device, and a robot member using the telescopic member.SOLUTION: An expandable and deformable telescopic member includes a plurality of basic structures comprising: an annular member; and a plurality of connection members whose base end is attached to the annular member. One basic structure is connected to another basic structure, which is provided adjacently to the one basic structure, by connecting, through an engagement member, a tip of each connection member in the one basic structure to a tip of each connection member of the other basic structure.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a telescopic member that can be stretched and deformed into a complicated form, and a robot member using the same.

In recent years, robots such as drones, nursing robots, and cleaning robots have become closer in daily life. There are many things that the robot itself can move, and there are many things that are small and portable, but most robot arms that can be stretched and deformed into a complex shape to accommodate a wide work space and can be carried are proposed. Absent.
Currently, as a robot arm that has been proposed, a robot arm using air pressure has been proposed as a flexible and lightweight robot (Non-Patent Document 1).
On the other hand, many robots using geometric (regular) shapes have been proposed. The geometric shape robot is characterized by structural deformation using the shape. Robots (Non-patent Documents 2 and 3) that deform using an origami mechanism on the exterior, and robots (Non-patent Document 4) that realize rolling movement by changing the shape using a tensegrity structure have been proposed. A design method (Non-patent Document 5) for easily folding a figure has also been proposed. Many of them use a flexible movement by using a geometric shape, and examples thereof include a snake-like shape (Non-patent Documents 6 and 7, Patent Document 1).
There has also been a proposal that focuses on the structural deformation characteristics of “Indian eagle”, one of the geometric toys (Non-Patent Document 8). The original Indian eagle has three degrees of freedom: opening and closing degrees of freedom at both ends and a middle degree of freedom of expansion and contraction. With these three degrees of freedom, it can be transformed into various shapes such as spherical, cylindrical, disc-shaped, and bowl-shaped. In the proposal of Non-Patent Document 8, the number of degrees of freedom possessed as a whole is increased from three to nine, realizing deformations of various shapes that are more complex than ordinary Indian folds.

  Various expansion / contraction deformation mechanisms have been proposed for realizing a robot arm that can be largely expanded and contracted. For example, RAPUDA (Non-Patent Document 9), Speral Robot Arm (Non-Patent Document 10), and the like can be given. RAPUDA (Robotic Arm for Persons with Upper Lim DisAbilities) is a structure that enables expansion and contraction by extruding disjoint blocks. Spiral Robot Arm is a structure using the mechanism of Spiral Zipper that combines adjacent materials like a zipper. Further, a high expansion / contraction ratio manipulator mechanism (Non-patent Document 11) that enables expansion and contraction by bending and winding a metal roll material in a half-moon shape has also been proposed.

JP 2005-169602 A

Kinjo, Yasunori Tanaka, Yasuhiro Kawamura, Sadao Kawamura, Yuki Nishioka: Development of an Inflatable Robot Arm with Operational 4 Degrees of Freedom, Japan Society of Mechanical Engineers Robotics and Mechatronics Lecture 2015, 1P2-D04, 2015. Yuta Sato, Takeshi Aoki: Development of a flexible deformation mobile body with a completely airtight crawler belt -Design of a crawler belt using origami theory-, The Japan Society of Mechanical Engineers Robotics and Mechatronics Lecture 2014, 2A2-D07, 2014. Evan Vander Hoff, Donghwa Jeong, Kiju Lee: OrigamiBot-I: A Thread-Actuated Origami Robot for Manipulation and Locomotion, 2014 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp.1421-1426, 2014 Yui Koizumi, Mizuho Shibata, Shinichi Hirai: Evaluation of continuous rolling of tensegrity robot, 29th Annual Conference of the Robotics Society of Japan, AC2I1-1, 2011. Hayato Kase, Jun Mitani, Yukio Fukui, Yoshihiro Kanamori: Designing an Axisymmetric Shape Including a Foldable Incision, Eizo Technical Report, vol.38, no.16, AIT2014-44, pp.55-58 , 2014. Richard Primerano, Stephen Wolfe: New Rolling and Crawling Gaits for Snake-like Robots, 2014 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp.281-286, 2014 Noriyasu Iwamoto, Motoshi Yamamoto: Evaluation method of flexible tail with variable stiffness mechanism using interparticle friction, The Japan Society of Mechanical Engineers Robotics and Mechatronics Lecture 2015, 1P2-E05, 2015. Aka Rindai, Naoyuki Takei: Development of "Indian Samurai" Robot, 15th SICE System Integration Division Conference, 2H1-2, 2014. Naoki Yamanobe, Yune Tsuji, Yuhito Wakita, Kazuyuki Nagata, Takashi Kinose, Eiichi Ono: Supporting Independence of People with Disabilities in the Upper Limb by Robotic Arms, 24th Annual Conference of the Japanese Society for Artificial Intelligence, 1H2-NFC3b-10 , 2010. Foster Collins, Mark Yim: Design of a Spherical Robot Arm with the Spiral Zipper Prismatic Joint, 2016 IEEE International Conference on Robotics and Automation (ICRA 2016), pp.2137-2143, 2016. Takashi Saitoh, Yuya Kamada, Daiki Kudo, Tomoyuki Sugawara, Sorahiro Nakamura, Kento Tan: Development of snow removal system for roof using high-stretch ratio manipulator mechanism, Robotics and Mechatronics Lecture 2016 (ROBOMECH2016), 2P2-09b1, 2016 .

  However, the robot arms described in Patent Document 1 and Non-Patent Documents 1 to 11 are not yet freely deformable in response to sufficiently complicated shapes, and those that can be deformed into more complicated forms are desired. This is the current situation. Also, in order to actually use it as a robot arm, it is necessary to attach a drive device such as an actuator such as a motor to the joint, and the longer the arm, the greater the required moment. There was also a problem that portability deteriorated.

  Accordingly, an object of the present invention is to provide a telescopic member that can be deformed into a complicated form, requires a minimum number of drive devices, and has excellent portability of the device, and a robot member using the same.

As a result of intensive studies to solve the above-mentioned problems, the present inventors focused on the simple structural deformation function of the geometrically deformed toy “Indian eagle” and connected a plurality of expansion / contraction deformation elements by a wire frame. As a result of the construction, the inventors have found that it is possible to construct a robot arm that can expand and contract greatly and can stand on its own, and is lightweight, flexible, and has a wide work space.
That is, the present invention provides the following inventions.
1. A telescopic and deformable telescopic member comprising a plurality of basic structures comprising a ring member and a plurality of connecting members having base ends attached to the ring member,
One basic structure engages the tip of each connecting member in the one basic structure with the tip of each connecting member of another basic structure adjacent to the one basic structure. Connected to the other basic structure by connecting via a member,
An elastic member characterized by that.
2. 2. The elastic member according to 1, wherein the engagement member is an elastic member.
3. Each of the connecting members is formed by bending or bending one bar-shaped member, with both end portions of the bar-shaped member serving as the base end and the central portion of the bar-shaped member serving as the distal end, and one connecting member 3. The elastic member according to 1 or 2, wherein a base end of each is disposed so as to be positioned between both base ends of the other connecting members adjacent to the one connecting member.
4). 4. The telescopic member according to 3, wherein a buffer member made of an elastic member is disposed between a base end of one connecting member and a base end of another connecting member.
5. A plurality of the basic structures are arranged on one side so that they can be connected to other basic structures located on both sides in the stacking direction when stacked in the predetermined direction as the connecting members. A connecting member for connecting to the body, and a connecting member for connecting to the basic structure located on the other side, the connecting member for connecting to one side and the other side, The expansion / contraction member according to any one of 1 to 4, which is the same number as the number of connection members for connection.
6). The engaging member is formed of an elastic member that accommodates two connecting members and is provided with play to such an extent that it can bend further.
5. The expansion / contraction member according to 4, wherein the buffer member is made of an elastic member that is longer than a distance between the base ends of the connecting member and is arranged in a compressed state.
The elastic member according to any one of 7.1 to 6,
A control member of the basic structure attached to each of the basic structures in the elastic member so as to be driven;
A robot member comprising a drive member provided to transmit power to the control member.

  The elastic member according to the present invention can be deformed into a complicated form, requires a minimum number of drive devices, and is excellent in portability of the device. Further, since the robot member of the present invention uses the stretchable member of the present invention, it is excellent in stretchability and deformability, can be made into various forms with a small number of driving devices, and is excellent in lightness and portability. It is a thing.

FIG. 1A is a plan view showing a state in which the elastic member of the present invention (in a state in which each basic structure is laminated) is viewed from above (the part visible behind is omitted for the sake of clarity). (B) is a partially enlarged view thereof, and (c) is a perspective view of only one basic structure (a drawing in which an engagement member and a buffer member are omitted for clarity). . FIG. 2 is an end view showing the side surface of each basic structure stacked and folded as a whole (the parts visible behind are omitted for the sake of clarity, and the engagement member and the buffer member are omitted) FIG. FIG. 3 is a side view (drawing substitute photograph) showing a state in which the elastic member shown in FIG. 2 is extended. FIG. 4 is a side view (drawing substitute photograph) showing a state in which the connecting portion of each connecting member is displaced inward from the state shown in FIG. FIG. 5 is a side view (drawing substitute photograph) showing a usage mode modified from the state shown in FIG. FIG. 6 is a side view showing an embodiment of a robot member (robot arm) using the elastic member of the present invention shown in FIG. FIG. 7 is a side view showing another embodiment of a robot member (robot arm) using the telescopic member of the present invention shown in FIG. FIG. 8 (a) is a plan view (drawing substitute photograph) showing another embodiment of the elastic member of the present invention, and FIG. 8 (b) is a side view (drawing substitute) showing a state in which the elastic member is extended. Photo).

1: telescopic member, 10: ring member, 22: base end, 20: connecting member, 2a: one basic structure, 2b: other basic structure, 30: engagement member

Hereinafter, the telescopic member and the robot member of the present invention will be described in detail.
<Expandable member>
As shown in FIGS. 1-3, the elastic member 1 of this embodiment,
A plurality of basic structures 2 including a ring member 10 and a plurality of connecting members 20 each having a base end 22 attached to the ring member 10 are provided. Further, as shown in FIG. 1B and the like, one basic structure 2a is configured such that the tip 24a of each connecting member 20 in one basic structure 2a is adjacent to the one basic structure 2a. Each of the connecting members of the basic structure 2b is connected to the other basic structure 2b by being connected to the distal ends 24b of the connecting members via the engaging members 30, respectively.
Details will be described below.

(Ring member)
The ring member 10 is a circular member made of a wire.
The size and thickness of the ring member (wire thickness) are arbitrary, and can be set according to the desired size and degree of deformation of the elastic member.
Moreover, although the perfect circular ring member 10 was shown in this embodiment, it can be set as various shapes, such as an ellipse and a polygonal shape.
(Connecting member)
Each of the connecting members 20 is formed by bending a wire as a single rod-shaped member, and by winding both ends of the wire around the ring member like a ring, both ends of the connecting member made of the wire are used as ring members. The base end 22 is configured to be slidably attached. Specifically, in this embodiment, both ends are bent into a circular shape, and the base end 22 is formed by passing a ring member through the circular mounting bracket. Further, the center portion (portion constituting the apex) of the curved wire is a tip 24. By curving in this way, the overall shape is a semi-elliptical shape.
Further, as shown in FIG. 1C, the connecting member 20 can be connected to other basic structures positioned on both sides in the stacking direction when the plurality of basic structures 2 are stacked in a predetermined direction. Thus, the connection member 20-1 for connection with the basic structure located on one side (hereinafter referred to as "one side connection member") and the connection for connection between the basic structure located on the other side Member 20-2 (hereinafter referred to as “other-side connecting member”). Moreover, the number of the one side connecting members 20-1 and the other side connecting members 20-2 is the same, and each of them is nine.
The one-side connecting member and the other-side connecting member are both formed in the same manner. When described with the one-side connecting member 20-1, the connecting members 20 constituting the one-side connecting member 20-1 are adjacent to each other. It overlaps with each connecting member to be arranged. That is, as shown in FIGS. 1A and 1C, when attention is paid to one connecting member 20, one connecting member is located on the front side of the connecting member 20 located on the left side (in the radial direction of the ring member). And the rear side of the connecting member 20 located on the right side (the radial direction side of the ring member). As a result, each connecting member is interlocked. When one connecting member 20 is rotated (rotated in the axial direction of the ring member), all the one-side connecting members 20-1 are rotated. It is formed to move. The other side connection member 20-2 is the same in this way.
As shown in FIG. 1 (a), the connecting members arranged so as to overlap in this manner have base ends 22x formed by one connecting member 20x, and each connecting member 22x has one connecting member 22x. It is arranged so as to be positioned between both base ends 22y formed by the other connecting member 20y adjacent to the base member 22y, and is positioned on the opposite side to the connecting member 20x of the base end 22y formed by the other connecting member 20y. The proximal end 20y is disposed so as to be positioned between both proximal ends 20z of the adjacent connecting members 20z. Between the base end 22x of one of the connecting members 20x and the base end 22y of the other connecting member 20y, buffer members 40 each made of an elastic member are disposed. Specifically, in this embodiment, a buffer member by a coil spring (compression coil spring) is arranged. This is the same for the other connecting members.
The connecting member may be formed by bending a wire instead of bending.

(Connection structure of basic structure)
And the some basic structure 2 comprised as mentioned above is laminated | stacked toward the predetermined direction, respectively, as shown in FIG. In the present embodiment, five basic structures are stacked, but the number of stacked layers is not limited to this, and any number can be stacked depending on the purpose of the elastic member.
The five basic structures 2 are all the same, and each has nine connecting members 20 on one side and the other side. And it is connected with the connection member in each basic structure which opposes, One connection member in basic structure 2a, 2e (refer FIG. 2) located in both ends is not connected, respectively, and is in a free state Has been.
As shown in FIGS. 1 to 4, the basic structures 2 a to 2 e are connected to each other through the engaging member 30 at the tip of the connecting member. The engaging member 30 is an elastic member, Specifically, it is composed of a coil spring (compression coil spring) and is formed of a member provided with play to such an extent that it can accommodate two connecting members and bend sufficiently. In addition to the compression coil spring, various members such as a rubber O-ring can be used as the elastic member forming the engaging member.

Since the elastic member 1 of this embodiment is comprised as mentioned above, it acts as follows.
First, in the non-stretchable state, as shown in FIG. 1, the basic structures 2 are in an overlapping state. Then, when a force is applied, for example, by pulling in an extending direction such as the arrow direction in FIG. 2, the direction of the connecting member 20 is perpendicular to the radial direction from the radial direction of the ring member 1 as shown in FIG. Tilt towards. Thereby, it will be in the expanded state.
Further, the direction of the connecting member 20 is directed further toward the center side of the ring member than the vertical direction with respect to the ring member 10, whereby a form like a gourd is formed in each basic structure 2 as shown in FIG. 4. The This form is a very stable form in which the connecting members interfere with each other, and can maintain an upright state stably without applying any force.

And in order to bend in either direction in the next extended state, as shown in FIG. 5, by tilting the tip of the elastic member 1 in either direction, the inclined direction side (inside in FIG. 5) The angle of the connecting member 20 located at (the angle between the connecting member and the ring member) is reduced, and the angle of the connecting member on the opposite side is increased. Thereby, the elastic member 1 can be bent at a predetermined angle. Thus, the connecting portion (engagement member 30) of each connecting portion 20 at the tip of each connecting member 20 and the base end 22 (attachment portion of the connecting member 20 and the ring member 10) of the connecting member are respectively provided. Since it acts as an inflection point, it can be easily deformed at an arbitrary angle, and it is also possible to deal with complicated shapes such as S-shape and spiral.
It is important that the engaging member is made of an elastic member so that it can be bent in an arbitrary direction. If the engaging member is a simple annular member, there is no play in the connecting portion between the connecting members. Further, the degree of freedom in movement of the connecting member is reduced. For this reason, when it sees with the whole expansion-contraction member, the freedom degree with respect to a bending direction decreases, and it does not deform | transform (the conventional "Indian cocoon" is such a form). However, since the elastic member of this embodiment is formed of a compression coil spring in which the engaging member is extendable and compressible, that is, an elastic member provided with play to such an extent that it can be sufficiently bent, the connecting members are The degree of freedom at the connecting part is high, and it is possible to move the connecting part between the front, rear, left and right. For this reason, when it sees with the whole expansion-contraction member, the free form change as shown in a figure is realizable.
Furthermore, this effect is particularly good when the buffer member is formed of a compression coil spring. The length of the buffer member is longer than the interval between the base ends of the connecting member, and is preferably arranged in a compressed state from the viewpoint of more effectively exerting these effects.

Below, the reason for having comprised like this embodiment and the detail of the dimension of each member are shown.
First, in order to select the configuration and dimensions suitable for the specifications of the basic structure, when the Indian ridge is modeled and indicated by parameters, the ring member is a perfect circle and the connecting member is an ellipse. Each parameter is set and shown in FIG. Where N is the number of connecting members, R is the radius of the ring member, a is the long axis of the connecting member, b is the short axis of the connecting member, x is the center point of the ring member and the center point of the connecting member. , Α represents the angle occupied by the connecting member in the ring member, and β represents the angle occupied by the overlapping portion of the connecting member in the ring member.
Obtain each appropriate parameter value. First, the following conditional expression is assumed in consideration of the parameter characteristics of Indian moths.
0 <α <π (1)
0 <β <α / 2 (2)
Furthermore, when the attachment part (base end of the connecting member) between the ring member and the connecting member is considered to be equally spaced, it can be expressed as follows.
β = α / 3 (3)
N (α−β) = 2π (4)
Next, the number N of connecting members will be considered. The number of connecting members of a normal Indian bag is 7-9. As a result of actually creating up to 11 sheets while taking this into consideration, the result is that it is difficult to rotate and difficult to handle because the interference by the wire is large when the connecting member is rotated toward the center of the round circle. It was. Therefore, N <12 is set in consideration of moderate movement. Further, paying attention to the values of α and β, and considering that the values satisfy the expressions (1), (3), and (4),
N = 5 to 11 options.
In the case of N = 9, if the ring member is divided into three in the center direction, there is a merit that symmetry can be maintained. When supporting at three points or when driving is introduced, installation due to symmetry, ease of use, etc. can be considered. Therefore, N = 9 was determined for these reasons. Therefore, the values of α and β are determined as follows.
α = π / 3 = 60 [deg], β = π / 9 = 20 [deg]
Also, assuming that the diameter of the perfect circle part is 100 [mm] (radius R = 50 [mm]) and the major axis a = 70 [mm] of the semicircle part, b and x can be obtained as follows. .
b = 25 [mm] x = 43.3 [mm]
From these results, the wire frame is made of stainless steel wire with a diameter of φ2.0, and the engaging member for connecting the connecting members includes a torsion spring and a holding part for holding it (a known torsion spring holding part). 2 can be used without any particular limitation), the engagement member slightly protrudes outward when it is extended as shown in FIG. The elastic member of the present embodiment composed of the above-described use was capable of a large change of 9 times in the elastic deformation in the z-axis direction.

<Robot materials>
The robot member 100 of the present embodiment using the elastic member of the present embodiment described above can be used as a so-called robot arm or the like, and attaches the elastic member 1 and each basic structure in the elastic member so as to be driven. The control member 110 of the basic structure 2 is provided, and a drive member (not shown) provided to transmit power to the control member.
The drive member is not particularly shown, but a servo motor capable of infinite rotation is used. As shown in FIG. 6, the control member 110 is located at the connecting portion of each connecting member 20, is attached along the engaging member 30, and is connected via a relay portion 112 provided at the center of the ring member 10. It consists of a peripheral diameter adjusting member 114 that adjusts the diameter of the connecting portion circumference formed by the connecting portion of the connecting member 20 communicated with the outside. In the present embodiment, the peripheral diameter adjusting member 114 is formed of a thread-like member, and a ring 116 is formed at one end of the thread-like member, and the ring 116 is engaged with the engaging member 30 so that the diameter is reduced at the connecting portion. The other circular shape is formed, and the other is communicated to the outside via the relay portion 112. Further, the peripheral diameter adjusting material 114 is made of a nylon thread having a wire diameter of φ0.369. The peripheral diameter adjusting material 116 is provided in any of the four connecting portions.
In the present embodiment, a length adjusting member 120 is provided as shown in FIG. In the description of this embodiment, the description of the peripheral diameter adjusting member and the length adjusting member will be described separately for ease of explanation and understanding, but in actuality, both of them are simultaneously performed on one robot member. Has been deployed. The length adjusting member 120 is composed of three wires attached to the ring member at one end at 120 ° intervals so that the deformation angle can be freely adjusted. The other end communicates with the outside in the same manner as the peripheral diameter adjusting member 114.
Each of the peripheral diameter adjusting member 114 and the length adjusting member 120 is connected to a servo motor (not shown) at the end of each member, and the peripheral diameter adjusting member 114 is wound to reduce the peripheral diameter. The cylindrical shape shown in FIG. 3 can be deformed into the gourd type shown in FIG. 4 or loosened to be changed from the gourd type into a cylindrical shape and eventually into a folded shape shown in FIG. Further, when all the length adjusting members 120 are extended in the same manner, they can be deformed from the folded shape shown in FIG. 2 to the extended state shown in FIG. In the case of bending, it is possible to bend at an arbitrary angle by shortening the member in the direction of bending among the three members and lengthening the other two members. Such an operation can be performed by shortening one or two at an arbitrary ratio and lengthening two or one at an arbitrary ratio.

The elastic member 1 of the present embodiment can be expanded and contracted greatly by being constructed by connecting a plurality of basic structures (extensible / deformable deformation elements) with a frame formed of a wire, and is lightweight and flexible. It is a wide space.
Further, since the robot member 100 of the present embodiment uses the telescopic member of the present embodiment, the arm can be flexibly operated without the need for a rotating joint by wire driving, making it lightweight and portable. Are better.
Moreover, in the expansion / contraction member 1 of the present invention, a large expansion / contraction deformation is possible by variously deforming the shape of the connecting member, and the long axis of the connecting member and the radius of the ring member as in this embodiment By adjusting the ratio, it becomes a gourd type and can be independent.
In particular, by using a gourd-like shape, it is possible to flex flexibly by deformation of the connecting member, and it is possible to flexibly operate in a three-dimensional direction by adjusting the driving force of the driving member.

Note that both the telescopic member and the robot member of the present invention are not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.
For example, the inner diameter of the ring member may be changed for each basic structure. For example, as shown in FIG. 8, the inner diameter is increased (decreased) in order so that the tip end side becomes thinner. It is also possible. In this case, although the diameter of the ring member 10 is changed, it is preferable that the outer shape of the basic structure including the connecting member is the same in all the basic structures.
Moreover, it can also be set as each independent form, without setting it as the structure which piles up a member for connection alternately, In this case, a flexible operation | movement with a higher degree of freedom is attained.
Further, the number of connecting members can be seven instead of nine on each of the one side and the other side.

Claims (7)

A telescopic and deformable telescopic member comprising a plurality of basic structures comprising a ring member and a plurality of connecting members having base ends attached to the ring member,
One basic structure engages the tip of each connecting member in the one basic structure with the tip of each connecting member of another basic structure adjacent to the one basic structure. Connected to the other basic structure by connecting via a member,
An elastic member characterized by that. The elastic member according to claim 1, wherein the engaging member is made of an elastic member. Each of the connecting members is formed by bending or bending one bar-shaped member, with both end portions of the bar-shaped member serving as the base end and the central portion of the bar-shaped member serving as the distal end, and one connecting member The telescopic member according to claim 1, wherein the base ends of the connecting members are disposed so as to be positioned between both base ends of the other connecting members adjacent to the one connecting member. The expansion / contraction member according to claim 3, wherein a buffer member made of an elastic member is disposed between a base end of one connection member and a base end of another connection member. A plurality of the basic structures are arranged on one side so that they can be connected to other basic structures located on both sides in the stacking direction when stacked in the predetermined direction as the connecting members. A connecting member for connecting to the body, and a connecting member for connecting to the basic structure located on the other side, the connecting member for connecting to one side and the other side, The same number of connecting members for connecting
The elastic member according to any one of claims 1 to 4. The engaging member is formed of an elastic member that accommodates two connecting members and is provided with play to such an extent that it can bend further.
The expansion / contraction member according to claim 4, wherein the buffer member is made of an elastic member that is longer than the interval between the base ends of the connecting member and is arranged in a compressed state. The elastic member according to any one of claims 1 to 6,
A control member of the basic structure attached to each basic structure in the stretchable member so as to be driven;
A robot member comprising a drive member provided to transmit power to the control member.