Selectively flexible extension tool
A selectively flexible extension tool includes a line assembly; and a plurality of sequentially arranged links, the line assembly operable with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a slacked position and a tensioned position, the plurality of sequentially arranged links spaced from one another when in the slacked position to allow the plurality of sequentially arranged links to pivotably move relative to one another, the plurality of sequentially arranged links pressed against one another when in the tensioned position to rigidly fix the plurality of sequentially arranged links to one another.
1. A selectively flexible extension tool comprising:
a line assembly;
a base operable to tension the line assembly; and
a plurality of sequentially arranged links forming an arm, the plurality of sequentially arranged links including a first link and a second link extending between a forward end and an aft end, the forward end of the first link defining a first interface geometry, the aft end of the second link defining a second interface geometry, the line assembly operable with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a slacked position and a tensioned position, the plurality of sequentially arranged links spaced from one another when in the slacked position to allow the plurality of sequentially arranged links to pivotably move relative to one another, the plurality of sequentially arranged links pressed against one another when in the tensioned position to rigidly fix the plurality of sequentially arranged links to one another such that the first interface geometry and the second interface geometry are pressed together to form a kinematic mount that constrains the first link and the second link in all degrees of freedom, the plurality of sequentially arranged links being configured to assume only a single predetermined shape over an entire length of the arm when the arm reaches the tensioned position, the predetermined shape being previously selected by a user such that a selective engagement of the plurality of sequentially arranged links including the forward end of the first engaging with the aft end of the second link forms a final geometry and orienation of the plurality of sequentially arranged links when the plurality of sequentially arranged links reach the tensioned position.
2. The selectively flexible extension tool of claim 1 , wherein the first interface geometry is complementary to the second interface geometry.
3. The selectively flexible extension tool of claim 2 , wherein the line assembly includes a first line slidable relative to at least the first link to move the plurality of sequentially arranged links between the slacked position and the tensioned position.
4. The selectively flexible extension tool of claim 2 , wherein the first link defines a first geometry, wherein the second link defines a second geometry, and wherein the first geometry and the second geometry are substantially the same.
5. The selectively flexible extension tool of claim 2 , wherein the first link defines a first geometry, wherein the second link defines a second geometry, and wherein the first geometry is different than the second geometry.
6. The selectively flexible extension tool of claim 2 , wherein the first interface geometry defines a circumference and comprises at least two extension members spaced along the circumference, wherein the second interface geometry also defines a circumference and comprises at least two indentions corresponding in shape to the at least two extension members.
7. The selectively flexible extension tool of claim 6 , wherein the at least two extension members of the first interface geometry comprises three extension members, and wherein the at least two indentions of the second interface geometry comprises three corresponding indentions.
8. The selectively flexible extension tool of claim 6 , wherein the at least two extension members of the first interface geometry are pressed within the at least two indentions of the second interface geometry when the plurality of sequentially arranged links is in the tensioned position.
9. The selectively flexible extension tool of claim 2 , further comprising:
a biasing member operable with the first link and the second link for biasing the second link away from the first link, and wherein the line assembly is configured to overcome the biasing member when moving the plurality of sequentially arranged links to the tensioned position.
10. The selectively flexible extension tool of claim 9 , wherein the biasing member is an elastic member positioned at least partially between the first link and the second link.
11. The selectively flexible extension tool of claim 9 , wherein each of the plurality of sequentially arranged links defines an outer surface, and wherein the biasing member is a spring attached to the outer surface of the first link and the outer surface of the second link for biasing the second link away from the first link.
12. The selectively flexible extension tool of claim 9 , wherein each of the plurality of sequentially arranged links defines an outer surface, and wherein the biasing member is a spring positioned inward of the outer surface of the first link and inward of the outer surface of the second link.
13. The selectively flexible extension tool of claim 2 , wherein the first link extends between a forward end and an aft end in a first longitudinal direction and the second link extending between a forward end and an aft end in a second longitudinal direction, and wherein the second link moves relative to the first link such that an angle defined between the second longitudinal direction and the first longitudinal direction varies.
14. The selectively flexible extension tool of claim 1 , further comprising:
a plurality of biasing members, wherein each biasing member is operable with a pair of adjacent links of the plurality of sequentially arranged links for biasing the adjacent links away from one another.
15. The selectively flexible extension tool of claim 1 , further comprising:
a biasing member operable with each of the plurality of sequentially arranged links for biasing adjacent links away from one another, wherein each of the plurality of sequentially arranged links defines an outer surface, and wherein the biasing member is operable with the outer surface of each of the plurality of sequentially arranged links.
16. The selectively flexible extension tool of claim 15 , wherein the biasing member comprises an elastomeric material attached to the outer surface of each of the plurality of sequentially arranged links.
17. The selectively flexible extension tool of claim 15 , wherein the biasing member comprises a continuous spring member attached to the outer surface of each of the plurality of sequentially arranged links.
18. The selectively flexible extension tool of claim 1 , wherein each of the plurality of sequentially arranged links defines a substantially similar geometry.
19. The selectively flexible extension tool of claim 1 , wherein each of the plurality of sequentially arranged links is formed through an additive manufacturing process.
20. The selectively flexible extension tool of claim 1 , wherein the selectively flexible extension tool is a guide tube, and wherein the plurality of sequentially arranged links together define a hollow tube extending therethrough.
21. The selectively flexible extension tool of claim 1 , wherein the selectively flexible extension tool is a tool member further comprising a tool implement coupled to one of the plurality of sequentially arranged links.
22. The selectively flexible extension tool of claim 21 , wherein the tool implement comprises a drill, and wherein the selectively flexible extension tool comprises a flexible driveshaft extending through the plurality of sequentially arranged links.
23. The selectively flexible extension tool of claim 21 , wherein the tool implement comprises one or more sensors, a camera, or both.
24. The selectively flexible extension tool of claim 1 , wherein each of the plurality of sequentially arranged links comprises a circumferential wall, wherein the line assembly comprises a first line, and wherein the first line of the line assembly extends through the circumferential wall of each of the plurality of sequentially arranged links.
25. The selectively flexible extension tool of claim 24 , wherein each link of the plurality of sequentially arranged links defines a lengthwise opening in the circumferential wall, and wherein the first line of the line assembly is slidably received through the lengthwise opening of the circumferential wall of each link of the plurality of sequentially arranged links.
26. The selectively flexible extension tool of claim 1 , wherein the line assembly comprises a plurality of lines operable with the plurality of sequentially arranged links.
27. The selectively flexible extension tool of claim 1 , wherein the plurality of sequentially arranged links is a first plurality of sequentially arranged links defining a first guide tube extending therethrough, and wherein the selectively flexible extension tool further comprises:
a second plurality of sequentially arranged links movably positioned at least partially within the first guide tube of the first plurality of sequentially arranged links.
28. The selectively flexible extension tool of claim 27 , wherein the line assembly comprises a first line operable with the first plurality of sequentially arranged links to move the first plurality of sequentially arranged links between a slacked position and a tensioned position, and a second line operable with the second plurality of sequentially arranged links to move the second plurality of sequentially arranged links between a slacked position and a tensioned position.
29. The selectively flexible extension tool of claim 27 , wherein the second plurality of sequentially arranged links together define a second guide tube extending therethrough, and wherein the selectively flexible extension tool further comprises:
a third plurality of sequentially arranged links movably positioned at least partially within the second guide tube of the second plurality of sequentially arranged links.
30. The selectively flexible extension tool of claim 1 , wherein the plurality of sequentially arranged links defines is a first plurality of sequentially arranged links defining a forward end, and wherein the selectively flexible extension tool further comprises:
a second plurality of sequentially arranged links coupled to the forward end of the first plurality of sequentially arranged links.
31. The selectively flexible extension tool of claim 30 , wherein the line assembly comprises a first line operable with the first plurality of sequentially arranged links to move the first plurality of sequentially arranged links between a slacked position and a tensioned position, and a second line operable with the second plurality of sequentially arranged links to move the second plurality of sequentially arranged links between a slacked position and a tensioned position, and wherein the second line is operable with the second plurality of sequentially arranged links independent of the first line being operable with the first plurality of sequentially arranged links.
32. The selectively flexible extension tool of claim 1 , wherein the plurality of sequentially arranged links is a first plurality of sequentially arranged links, and wherein the selectively flexible extension tool further comprises:
a second plurality of sequentially arranged links; and,
wherein, when in the tensioned position, the first plurality of sequentially arranged links being configured to assume only a first single predetermined shape, the first single predetermined shape being previously selected by the user so as to form a first final geometry of the first plurality of sequentially arranged links, and wherein the second plurality of sequentially arranged links being configured to assume only a second predetermined shape, the second predetermined shape being previously selected by the user so as to form a second final geometry of the second plurality of sequentially arranged links.
33. The selectively flexible extension tool of claim 32 , wherein the line assembly includes a first line and a second line, the first line operable with the first plurality of sequentially arranged links to move the first plurality of sequentially arranged links between the slacked position and the tensioned position, and the second line operable with the second plurality of sequentially arranged links to move the second plurality of sequentially arranged links between the slacked position and the tensioned position.
34. The selectively flexible extension tool of claim 32 , wherein the first predetermined shape has a different curvature than the second predetermined shape.
35. The selectively flexible extension tool of claim 1 , wherein the first interface geometry includes at least one extension member and the second interface geometry including at least one indentation, the at least one extension member received by the at least one indentation to form the kinematic mount.
36. The selectively flexible extension tool of claim 1 , wherein the line assembly comprises a plurality of lines that extend a length of the selectively flexible extension tool in a first direction and loop around to extend a length of the selectively flexible extension tool in a second direction opposite the first direction.
37. A selectively flexible extension tool comprising:
a line assembly;
a base including a first body and a second body, the second body directly coupled to the line assembly, the base operable to tension the line assembly by moving the second body towards or away from the first body; and
a plurality of sequentially arranged links forming an arm, the line assembly operable with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a slacked position and a tensioned position, the plurality of sequentially arranged links spaced from one another when in the slacked position to allow the plurality of sequentially arranged links to pivotably move relative to one another, the plurality of sequentially arranged links each including an exterior circumferential wall defining an outer rim at each end of each link, the plurality of sequentially arranged links pressed against one another such that exterior outer rims of adjacent links are aligned and in direct contact and surfaces of adjacent interface geometries are completely engaged when in the tensioned position to rigidly fix the plurality of sequentially arranged links to one another.
38. The selectively flexible extension tool of claim 37 , wherein the first body is a first plate, and wherein the second body is a second plate.
39. The selectively flexible extension tool of claim 37 , wherein the base further includes at least one extension guide fixedly coupled to the first body, and wherein the second body is slidable along the at least one extension guide.
40. A selectively flexible extension tool comprising:
a line assembly;
a base operable to tension the line assembly; and
a plurality of sequentially arranged links forming an arm, the line assembly operable with the plurality of sequentially arranged links to move the plurality of sequentially arranged links between a slacked position and a tensioned position, the plurality of sequentially arranged links spaced from one another when in the slacked position to allow the plurality of sequentially arranged links to pivotably move relative to one another, the plurality of sequentially arranged links pressed against one another when in the tensioned position to rigidly fix the plurality of sequentially arranged links to one another, the plurality of sequentially arranged links taking a predefined shape over an entire length of the arm, wherein two adjacent links of the plurality of sequentially arranged links include a short side at a first circumferential position and a long side at a second circumferential position, and wherein pairing the two adjacent links in a first position relative to each other forms a first predefined shape and pairing the two adjacent links in a second position relative to each other forms a second predefined shape.