초록 ▼

A flexible manipulator is constructed of parallel elements which are layered one over the other along a stacking axis and preferably have at least three bores on the circumference, which are aligned to form a guide arrangement. Projecting sleeves are provided at the bores and extend telescopically i

A flexible manipulator is constructed of parallel elements which are layered one over the other along a stacking axis and preferably have at least three bores on the circumference, which are aligned to form a guide arrangement. Projecting sleeves are provided at the bores and extend telescopically into one another from respectively two adjacent elements. Elastic rods are guided through the bores, which rods are fastened at one end of the manipulator and exit freely at the other. The manipulator can be brought into an arbitrary shape through the tension and pressure created by displacing of these rods in a particular manner. In addition, a blocking material is provided in the invention which can lock the sleeves of adjacent elements from movement so that a displacement of a rod will be directed between a different pair of elements. The locking or blocking of the movement of the sleeves can be obtained by utilizing the rotation of the actuating rods.

대표청구항 ▼

[ We claim:] [1.] A flexible manipulator comprising at least three planar elements having essentially the same shape being arranged one over the other along a stacking axis extending essentially perpendicular to a flat plane of each element so as to form a stacked arrangement, connecting means being

[ We claim:] [1.] A flexible manipulator comprising at least three planar elements having essentially the same shape being arranged one over the other along a stacking axis extending essentially perpendicular to a flat plane of each element so as to form a stacked arrangement, connecting means being provided between the elements, which respectively connect adjacent elements with one another and which essentially allow only an axial mobility of the elements along the stacking axis away from one another and toward one another as well as an angled position of the elements to one another, guide means uniformly distributed on the circumference of each of the elements and providing at least three sets on first axes extending parallel to the stacking axis, which sets have essentially the same spacing from one another, each set of guide means including tubular projections made of an elastic material which are arranged and constructed so that respectively a first projection of a first element of a pair of adjacent elements extends telescopically into a second projection of a second element of the pair to provide a positive connection of the pair of adjacent elements, which connection provides axial displacement between the adjacent elements, a flexible elastic actuating rod being provided for each of the sets of guide means, each rod being fastened in an axial non-displaceable manner to a first end of the stack arrangement and extending through an exit at the second end of the stack arrangement in a highly displaceable manner, and separate drive means for each of the actuating rods for engaging the respective rod at the second end of the stack arrangement and for displacing the rod to change the distance between the planar elements.