Abstract: An elongate robotic arm comprising articulated segments and a channel that extends along the longitudinal axis of the arm and contains a stiffening member which includes a sensor for measuring the shape of the arm. Using the central channel for this purpose improves the ease and accuracy of shape measurement.

Abstract: A robotic arm deployment apparatus is provided for a tip following robotic arm, of the type comprising a plurality of controllable segments (34) each comprising articulated links. The apparatus includes a straight guide portion (16) having a length at least equal to the length of each arm segment so that the arm control system can be calibrated as each segment passes through the guide.

Abstract: A robotic arm is provided, for example for inspecting a rotary machine such as a gas turbine engine. The arm has a plurality of groups of links having articulations therebetween for movement in a first plane, the groups having articulations with respect to each other for movement in a second orthogonal plane. Thus the arm can move around objects such as aerofoils in the engine, and also move up or down to remain close to the rotary surface of the machine.

Abstract: A robotic arm arrangement including an arm having control cables extending from the base of the arm, and coupling members for coupling the cables to actuators for linear actuation of the cables. The coupling members extend radially outwardly around the arm to enable quick release and replacement of the arm.

Abstract: A method of controlling the position of an elongate robotic arm comprising articulated segments. An actuator is associated with each segment to control its position, and a control system operates the actuators. Data representing the position of the arm is gathered and compared to input data that represents a required new position of a part of the arm. Data representing the required new position of the arm is then calculated, attempting to keep the remainder of the arm as close as possible to its previous position. The actuators are operated to move the arm into the new position. In tip following, the data representing the new position may define a path, and the arm may be fitted to the path by matching the position and orientation of a point on each pair of adjacent segments to that of the path.

Abstract: In a “tip following” robotic arm, the apertures through which control cables pass are arranged to ensure that the cables are maintained in contact with at least a part of the aperture, leading to a more stable and controllable arrangement.

Abstract: A robotic arm comprises a plurality of articulated elements, and control means for controlling the position of various of the elements such that the arm may adopt serpentine shape for tip following movement. Means for measuring directly the relative positions of at least some of the elements are provided in order to calculate deviation from the theoretical shape, and apply corrections to the arm control means.

Abstract: A robotic arm comprising a plurality of segments, each comprising articulated links, and means for causing each segment to bend so the arm can follow a serpentine path. A helical spring is provided coaxially with the arm to urge the links to an initial datum position, and to distribute the bending over the links of each segment.

Abstract: An elongate robotic arm comprising articulated segments and a channel that extends along the longitudinal axis of the arm and contains a stiffening member which includes a sensor for measuring the shape of the arm. Using the central channel for this purpose improves the ease and accuracy of shape measurement.

Abstract: A robotic arm arrangement including an arm having control cables extending from the base of the arm, and coupling members for coupling the cables to actuators for linear actuation of the cables. The coupling members extend radially outwardly around the arm to enable quick release and replacement of the arm.

Abstract: A robotic arm deployment apparatus is provided for a tip following robotic arm, of the type comprising a plurality of controllable segments (34) each comprising articulated links. The apparatus includes a straight guide portion (16) having a length at least equal to the length of each arm segment so that the arm control system can be calibrated as each segment passes through the guide.

Abstract: A robotic arm is provided, for example for inspecting a rotary machine such as a gas turbine engine. The arm has a plurality of groups of links having articulations therebetween for movement in a first plane, the groups having articulations with respect to each other for movement in a second orthogonal plane. Thus the arm can move around objects such as aerofoils in the engine, and also move up or down to remain close to the rotary surface of the machine.

Abstract: A ‘tip following’ robotic arm for operating in pipes includes a plurality of articulated segments actuable to control the shape of the arm, and also is provided with guides such as wheels on some or all of the segments thereof, such that the arm may alternatively or in addition follow the shape of the pipe using the guides.

Abstract: A robotic arm of the “top following” type, which can advance into an environment is covered is covered by a sensorised skin. The arm can thus detect a parameter of the environment, and the shape can be adjusted accordingly.

Abstract: A method of controlling the position of an elongate robotic arm comprising articulated segments. An actuator is associated with each segment to control its position, and a control system operates the actuators. Data representing the position of the arm is gathered and compared to input data that represents a required new position of a part of the arm. Data representing the required new position of the arm is then calculated, attempting to keep the remainder of the arm as close as possible to its previous position. The actuators are operated to move the arm into the new position. In tip following, the data representing the new position may define a path, and the arm may be fitted to the path by matching the position and orientation of a point on each pair of adjacent segments to that of the path.

Abstract: The present invention relates to a link assembly for a robot arm which comprises first and second link members each adapted for limited movement one with respect to the other and resilient elastomeric material disposed between said first and second members and bonded or keyed thereto whereby movement between the first and second member results in shear movement within the elastomeric material disposed there between.

Abstract: In a “tip following” robotic arm, the apertures through which control cables pass are arranged to ensure that the cables are maintained in contact with at least a part of the aperture, leading to a more stable and controllable arrangement.

Abstract: A robotic arm comprising a plurality of segments, each comprising articulated links, and means for causing each segment to bend so the arm can follow a serpentine path. A helical spring is provided coaxially with the arm to urge the links to an initial datum position, and to distribute the bending over the links of each segment.

Abstract: A robotic arm comprises a plurality of articulated elements, and control means for controlling the position of various of the elements such that the arm may adopt serpentine shape for tip following movement. Means for measuring directly the relative positions of at least some of the elements are provided in order to calculate deviation from the theoretical shape, and apply corrections to the arm control means.

Abstract: A robotic arm device capable of accessing machinery and equipment, which is otherwise difficult access for maintenance and repair is provided. An apparatus comprising a support arm with a plurality of longitudinal segments each capable of movement one with respect to the other to define a serpentine path or shape, work head carrier located at or near the distal end of the arm and adapted to carry a work and or examination tool and controller for controlling the movement of at least some of the segments such that the arm may be advanced longitudinally along an access path to present the tool at the work location. The arm is formed by a combination of segments, each comprising a plurality of links with and may include a separate controller for each segment.