| 摘要 |
A flexible tool 10 or snake robot comprises a plurality of rigid members 12 spaced along a longitudinal axis 14, a plurality of flexible members 16 extending between the plurality of rigid members 12 and being arranged to enable the plurality of rigid members 12 to diverge from the longitudinal axis and define a work volume for the flexible tool 10 (arrows 26, 28, 30 and 32), at least some of the plurality of flexible members 16 being unevenly spaced around the longitudinal axis 14 and/or a physical characteristic of at least some of the plurality of flexible members 16 varying along the longitudinal axis 14 to cause the work volume and/or stiffness of the flexible tool 10 to be asymmetric relative to the longitudinal axis 14. The flexible members 16 may include flexible joints 1611, 1612, 1613, 1614 and control cables 162, 1621, 1622, 1623, 1624 which may extend through and between some of the rigid members 12. The flexible joints 1611, 1612, 1613, 1614 may differ in length, thickness or material (figs. 10-14). The tool may be used to machine or inspect components using a belnding tool, a water jet, a laser cutter, a gripper, a drilling tool, a CCD camera or a CMOS camera. |
