Tracking enabled multi-axis tool for limited access inspection

摘要

A multi-axis tool may include, in some embodiments, a gimbal adapted to be positioned adjacent an opening in a wall; an extended-reach device having first and second ends and an end effector adjacent the first end, the extended-reach device engaging the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector is positioned on a side of the wall opposite the second end; a sensor system configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening; and a computer control connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening.

主权项

1. A multi-axis tool comprising:
a gimbal adapted to be positioned adjacent an opening in a wall; an extended-reach device having first and second ends and an end effector adjacent the first end, the extended-reach device engaging the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector is positioned on a side of the wall opposite the second end; a sensor system configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening; and a computer control connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening.