Importance

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Abstract

An elongate main body section of the manipulator has its opposite ends respectively connected to a base section and an object support section. The main body section consists of elongate flexible rod members extending in generally parallel spaced relationship to each other and to the central axis of such section. The lower end portions of the rods are driven by drive mechanisms within the base section to selectively cause the main body section to undergo extension/retraction, bending and/or twisting movement in desired directions. The rod members may be resiliently flexible throughout their entire extent, or may be comprised of rigid sections interconnected by elastomeric joints. In one embodiment the drive mechanisms imparts rotation to the lower end portion of each rod member to produce twisting of the main body section, while in another embodiment axial movement imparted to the rods is reacted by an object support section having relatively moveable components to produce the twisting movement.

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First Claim