Abstract: A tentacle mechanism comprising an elongate helicoid stage of windings having multiple through bores formed therethrough which carry control lines for controlling the shape of stages of the helicoid tentacle. An actuator and motor control the control lines and additional cables positioned in other sets of through bores can change the length and shape of the tentacle as well as desired spatial attitude. Embodiments of the tentacle carry end effectors at the distal end-effector actuation cables couple the end-effectors to actuator and motor.

Abstract: A gatling gun style projectile launcher comprising an assembly of rotating, pressurized-air driven guns. A loader assembly mounted on the gun assembly rotates synchronously through mating of drive gears with the assembly of guns. The loader applies centrifugal force to the paintballs within, urging them into loader tubes positioned in the wall of the loader. Synchronous timing gears align the rotating loader tubes with cognate breech openings in the guns, thereby transferring paintballs into the firing positions from which the paintballs are launched.