IMPROVEMENTS IN AND RELATING TO THE ROBOTIC POSITIONING OF AWORK TOOL OR SENSOR

摘要

This invention relates to redundant robotic apparatus and methods of deployi ng them. The specification teaches the methodology and construction of a roboti c arm device capable of accessing machinery and equipment, which is otherwise difficult to access for maintenance and repair, and is particularly useful i n the aeronautical, turbine and nuclear industries. In particular the inventio n includes apparatus which comprises a support arm comprising a plurality of longitudinal segments each capable of movement one with respect to the other to define a serpentine path or shape, work head carrying means at or towards the distal end of said arm and adapted to carry a work and or examination to ol and control means for at least some of said segments to permit control of th e shape of the associated segment so that different segments constituting the arm may assume different shapes whereby the arm may advance longitudinally along a predetermined access path to present said tool at said site. The use of a combination of segments, each comprising a plurality of links with separate control means for each segment allows inter alia such a device to extend longitudinally into a restricted space or pathway.