| 摘要 |
There is disclosed a device intended to connect two objects and to vary their relative position and orientation, and which may be applied particularly to manipulator arms. Said device comprises: a deformable sealed tube (1), for example of rubber, provided with a carcass which may be comprised of diagonal armatures (8) allowing the flexure and elongation of the tube but not its torsion, shearing or swelling; a series of flexible elements adjustable in lengths, distributed on the contour of the tube and associated to the tube and arranged substantially longitudinally with respect to the tube axis. Said flexible elements may be for example comprised of passages (6) for cables (7) which connect both ends of the tube and are integral therewith; means (16) to vary the length of the adjustable length flexible elements; means for creating and/or maintaining a pressure inside the tube. Application to robot arms.
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