公开(公告)号：US20190054638A1

公开(公告)日：2019-02-21

申请号：US16052966

申请日：2018-08-02

Applicant: ROLLS-ROYCE plc

Inventor： Andrew D. NORTON ,  Dragos A. AXINTE ,  Xin DONG ,  David AIATORRE TRONCOSO

IPC: B25J18/06 ,  F01D21/00 ,  B25J9/06 ,  B25J11/00

Abstract: A hyper-redundant manipulator for insertion into an area of interest through an aperture is shown. The hyper-redundant manipulator comprises a plurality of individually-lockable sections, each of which comprise a plurality of segments having positions that are adjustable relative to each other so as to adopt a pose. A respective locking mechanism is located in each section and is configured to switch between a locked condition in which the pose of the segments in the respective section is locked, and an unlocked condition in which the pose of the segments in the respective section is not locked. A plurality of actuators common to all of the sections are provided to adjust the pose of the segments in sections with a locking mechanism in an unlocked condition.