Abstract: An engine assembly includes an engine including a component and defining an opening and an interior, the component including a first side and an opposite second side, the second side positioned within the interior of the engine. The engine assembly also includes an inspection tool having a first member including at least one of a receiver or a transmitter and directed at the first side of the component. The inspection tool also includes a second member including the other of the receiver or the transmitter and positioned at least partially within the interior of the engine and directed at the second side of the component to communicate a signal with the first member through the component, the second member being a robotic arm extending through the opening of the engine.

Abstract: A robotic arm assembly includes a robotic arm including a link, a control rope operable with the link, and an attachment section, the control rope extending at least partially through the attachment section. The robotic arm assembly also includes an actuator pack attached to, or positioned adjacent to, the attachment section of the robotic arm, the actuator pack including an actuator, the actuator operable with the control rope and including a motor defining a pivot axis, the motor configured to move about the pivot axis to displace the control rope.

Abstract: A method is provided for constructing a robotic arm including a plurality of links and a rope assembly. The method includes providing the rope assembly having a rope with a plurality of rope bearings threaded thereon; and attaching the plurality of rope bearings of the rope assembly to the plurality of links of the robotic arm.

Abstract: A tool for inspecting an annular section of an engine includes a first segment extending along a first lengthwise direction between a forward end and an aft end; and a second segment extending along a second lengthwise direction between a forward end and an aft end, the forward end of the first segment pivotably coupled to the aft end of the second segment and the first segment moveable relative to the second segment between a bent position and a coupled position, the first lengthwise direction defining a coupled angle with the second lengthwise direction when the first segment is in the coupled position relative to the second segment. The tool also includes an adjustment member operable with the first segment, the second segment, or both to adjust the coupled angle defined by the first lengthwise direction with the second lengthwise direction.

Abstract: A method for constructing a robotic arm includes positioning a wire in a formation zone for the robotic arm; and forming a body of the robotic arm in the formation zone around the wire such that the body of the robotic arm encloses at least a portion of the wire.

Abstract: A robotic arm assembly includes a robotic arm, a base, and a utility member, the robotic arm extending between a root end attached to the base and a distal end including the utility member. A method for controlling the robotic arm assembly includes: determining a position of the base, the root end, or both relative to the environment; determining a task position and orientation for the utility member within the environment; determining a three-dimensional constraint of the environment; and determining a path for the robotic arm through the environment based on each of the position of the base, the root end, or both relative to the environment, the task position and orientation for the utility member within the environment, and the three-dimensional constraint of the environment.

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.