TENTACLE MECHANISM

摘要

A tentacle mechanism comprising an elongate helicoid stage of windings having multiple through bores formed therethrough which carry control lines for controlling the shape of stages of the helicoid tentacle. An actuator and motor control the control lines and additional cables positioned in other sets of through bores can change the length and shape of the tentacle as well as desired spatial attitude. Embodiments of the tentacle carry end effectors at the distal end-effector actuation cables couple the end-effectors to actuator and motor.

主权项

1. A tentacle mechanism comprising:
a. an elongated helicoid stage which defines a longitudinal axis of the tentacle mechanism, b. one or more control path passageways defining through-bores formed in said helicoid stage; c. one or more control lines disposed in said control path passageways for controlling the shape of said elongated helicoids.