The invention discloses a variable-stiffness end
effector based on a wedge-shaped
bristle bundle, and relates to the technical field of soft end effects.The variable-stiffness end
effector comprises a wedge-shaped
bristle bundle unit, a tangential loading and
desorption unit, a variable-stiffness unit and an outer frame unit, wherein the outer frame unit comprises an outer frame, the top of the outer frame is used for being connected with an external connecting mechanism, the variable-stiffness unit comprises a connecting block and a soft bag, the connecting block is connected with a driving device, the driving device is installed in the outer frame, the soft bag is installed on the connecting block, the soft bag is filled with particulate matter, an air
pipe joint is arranged on the connecting block, is communicated with the soft bag and is used for generating negative pressure in the soft bag, the tangential loading and
desorption unit comprises an extension spring, one end of the extension spring is connected with the outer frame, the other end of the extension spring is connected with the connecting block, the wedge-shaped
bristle bundle unit comprises a wedge-shaped bristle bundle, and the wedge-shaped bristle bundle is installed on the soft bag and used for making contact with and adhering to a target object. According to the invention, the contact area of the wedge-shaped bristle bundle is increased, and stable tangential loading and unloading of the wedge-shaped bristle bundle are achieved.