In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

Abstract
1. 서 론
2. 재밍 메커니즘 분석
    2.1 입자의 크기
    2.2 백본(Backbone)
3. FEM 시뮬레이션
4. 제작 및 실험
    4.1 제작
    4.2 실험
5. 결 론
References

• 이정수(Mechanical Engineering, Sungkyunkwan University) | Jeongsu Lee
• 조영준(Mechanical Engineering, Sungkyunkwan University) | Youngjun Cho
• 구자춘(Mechanical Engineering, Sungkyunkwan University) | Jachoon Koo Corresponding author