| 摘要 |
<p>According to the present invention there is provided a Centerless Robotic Platform (CRP) system adapted for mounting on' a surface (ES) of a body (B) . The surface body extends along a longitudinal axis (XB) and having an esse ntially closed cross-sectional contour. The CRP system comprises at least.a first drive unit (10) comprising' one or more rolling member(14), at least o ne link unit 20) (comprising one or more rolling member (24), and a biasing arrangement. The drive unit and the one or more link units are adapted for a ttachment to one another. When mounted onto the body, the biasing arrangemen t (30) is adapted to bias the rolling members to engage the surface of the b ody. The biasing arrangement is adapted to urge the rolling members to dynam ically follow the contour so as to maintain in surface contact with the surf ace during rotation of the system about the body.</p> |
