Abstract: An insertion tool for performing an operation on equipment, the insertion tool including: a plurality of segments, each segment of the plurality of segments including a body comprising: a first hinge; and a second hinge, the first hinge of a first segment being coupled to the second hinge of a second segment adjacent to the first segment through an interface, wherein the interface comprises a powder gap, a multi-modal interface, a compliance feature, a displace-to-lock configuration, an interference fit, or any combination thereof, wherein the insertion tool is configured to be selectively rigidizable using a strength member interfacing with the plurality of segments.

Abstract: An insertion tool for performing an operation on equipment, the insertion tool including: a plurality of segments, each segment of the plurality of segments including a body including: a first hinge; a second hinge, the first and second hinge members pivotally coupling adjacent segments of the plurality of segments together; and a cavity extending along the body of the segment, the cavity exiting the body at a plurality of exit locations, wherein at least one of the plurality of exit locations is disposed adjacent to the first hinge; and a selectively rigidizable strength member disposed within the cavity.

Abstract: An insertion apparatus for use with a rotary machine includes a body extending from an insertion end to a steering end and sized to fit within an annular cavity. The body has a first stiffness and curves along a circumference of the annular cavity as the insertion end travels through the annular cavity. The insertion apparatus also includes a stiffener coupled to the body and extending from the steering end to the insertion end. The stiffener has a second stiffness greater than the first stiffness. The insertion apparatus further includes at least one maintenance device coupled to the insertion end of the insertion apparatus and a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body.