Tentacle-like manipulators with adjustable tension lines

Details Tentacle-like manipulators with adjustable tension lines Tentacle-like manipulators with adjustable tension lines

1992-12-14

1994-06-07

Look, Edward K.

Motors: expansible chamber type

With motive fluid valve

92 34, 92 43, 74479BF, 901 22, 901 23, F15B 1108, F15B 1304, F01B 1900

Patent

active

053179528

ABSTRACT:
A tentacle-like manipulator has a resiliently longitudinally extensible, laterally bendable elongate member, e.g. an inflatable bellows or a helical compression spring-like member, with an end effector mounting on one end thereof. Tendon-like tension members extend along said elongate member and are spaced apart from one another around said elongate member, one end of each of said tension members being to said elongate member at said one end thereof. Guides spaced apart along and secured to said elongate member and slidably engage said tension members for guiding said tension members relative to said elongate member. Further tension members extend along only a portion of the length of the elongate member and are secured to the elongate member at a location intermediate the ends of the elongate member. Winches are used to wind and unwind the tension members to correspondingly control the length and the bending of the elongate member.

REFERENCES:
patent: 3060972 (1962-10-01), Sheldon
patent: 3497083 (1970-02-01), Anderson et al.
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patent: 4815911 (1989-03-01), Bengtsson et al.
patent: 4939982 (1990-07-01), Immega et al.
patent: 5083498 (1992-01-01), Sato et al.
patent: 5174168 (1992-12-01), Takagi et al.
patent: 5251538 (1993-10-01), Smith

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