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    • 1. 发明申请
    • MECHANICAL SERPENTINE DEVICE
    • 机械伺服设备
    • WO2006060775A3
    • 2007-01-04
    • PCT/US2005043939
    • 2005-12-02
    • SARCOS INVEST LCJACOBSEN STEPHEN CMARKUS DAVID TMARCEAU DAVIDZURN SHAYNE
    • JACOBSEN STEPHEN CMARKUS DAVID TMARCEAU DAVIDZURN SHAYNE
    • B25J18/06B25J17/02
    • B25J18/06Y10T74/20305
    • A serpentine device (10) having a proximal end and (34) a distal end comprising a series of discs (14) arrayed in succession and on center along a common, neutral axis (4), wherein the discs (14) comprise a first and second surface; and at least one flexible interconnect (54) extending between and connecting each disc (14) to any succeeding disc (14) according to a pre-determined connection configuration, wherein the interconnects (54) are indirectly connected to one another through the discs (14) and configured to provide torsional and bending support to each of the discs (14) connected thereto under an applied load, thus achieving a continuum of flexibility along an entire length of the serpentine device (10), as well as to facilitate the torquability of the serpentine device (10). The serpentine device (10) may further comprise a bendable member and at least one transfer element configured to perform one or more transfer functions, namely the transfer of energy, work, fluid, electricity, light energy, sound energy, matter, etc. from one location to another location, and particularly from a source to one or more of the discs (14) of the serpentine device (10). An actuation system is also featured, which is configured to selectively actuate the discs (14) in a pre-determined direction in three-dimensional space.
    • 具有近端的蛇形装置(10)和(34)远端,包括沿着共同的中立轴线(4)连续排列并且沿中心排列的一系列盘(14),其中所述盘(14)包括第一 和第二表面; 以及根据预定的连接配置,在每个盘(14)之间延伸并连接到任何后续盘(14)的至少一个柔性互连(54),其中所述互连(54)通过所述盘彼此间接连接 14),并且被配置成在施加的负载下为连接到其上的每个盘(14)提供扭转和弯曲支撑,从而在蛇形装置(10)的整个长度上实现柔性的连续性,并且促进扭矩 的蛇形装置(10)。 蛇形装置(10)还可以包括可弯曲构件和至少一个传送构件,其被配置为执行一个或多个传递功能,即能量,工作,流体,电,光能,声能,物质等从 一个位置到另一个位置,特别是从源头到蛇形装置(10)的一个或多个盘(14)。 还具有致动系统,其被构造成在三维空间中以预定方向选择性地致动盘(14)。