Table III.

Nominal Properties of Transmission Segment and Steerable Segment Designs

	Section	Design Pattern	$\text{AE}\left(\mathit{N}\right)$	$\text{EI}\left({N\mathit{\text{mm}}}^2\right)$	$\text{GJ}\left({N\mathit{\text{mm}}}^2\right)$
Tube 1	A & C	Brickwork	488	405	5456
	B	Discrete	1926	1480	8865
	D	Serpentine	*	185	211
Tube 2	A & C	Brickwork	414	409	2554
	B	Discrete	2121	1551	9245
	D	Serpentine	*	175	156
Tube 3	A & C	Brickwork	533	446	2699
	B	Discrete	2558	1315	4410
	D	Serpentine	*	172	154
Tube 4	A & C	Brickwork	588	360	1704
	B	Discrete	3000	1351	2945
	D	Serpentine	*	178	111
Tube 5	A & C	Brickwork	877	408	1307
	B	Discrete	4306	1289	1869
	D	Serpentine	*	103	89

^*The axial stiffness of the steerable tip is so high relative to its bending stiffness, that we model it as infinitely stiff.