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Task Specifications Used in the Design of the Robotic Slaves
| Reachable workspace | Orientation workspace | Maximal Speed |
|---|---|---|
| Ø 40 mm cylinder 50 mm long located 180–250 mm axially down the throat | ±90° pitch and yaw and ±180° roll about longitudinal axis of the gripper. | Bend each snake segment ±90° in 1 second |
| Precision | Tool tip forces | Gripper forces |
| ±0.5 mm translation, ±1° in orientation. | 1 N force in any direction | 40 N jaw clamping force. |
