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My guess is if something requires jailbreaking to use, then there is no way to use it without jailbreaking.
 
Actually there is: something called Air Sharing, costs a few dollars at the App Store as I recall. Can be used to copy and view a large number of document, image, video and audio formats on the phone. Works on Jaunty at least. It uses webdav, I installed davfs2 via Synaptic first. Have the app switched on, go to 'Connect to server', select webdav, type the app's IP (found in included instructions) and port 8080 - no username and password unless you've set one in the app's settings - and connect. Automatic lock of the phone set as 'never'. I've had no problems so far, although if I unmount the connection and want to connect again, I seem to need to reconnect wireless on the phone before it works again (otherwise get HTTP error: cannot connect to destination).
 
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