Abstract: A manipulator for remote handling in a hostile environment 14, has a slave arm 10 comprising an upper arm 30, a forearm 52 and a jaw mechanism 60. The upper arm 30 is pivotally suspended from a shoulder support 20 and is telescopically extendible such that straight line motion of the forearm 52 is readily obtained. In addition the forearm 52 is arranged to pivot relative to the upper arm 30 through the same angle as the upper arm 30 but in the opposite sense such that the forearm 52 maintains a constant orientation when the upper arm 30 pivots. All the motions of the slave arm 10 may be controlled through mechanical linkages from a drive unit 18 situated outside the hostile environment 14, and extending through shielding 13 into the environment 14.

Abstract: A manipulator consisting of a slave assembly, a master unit, and a control circuit. The movement of the various components of the slave assembly are actuated by electric stepping motors, and the slave assembly itself comprises a pantograph linkage having a wrist at one end of an extended link of the linkage. A jaw assembly connected to the wrist is arrranged to be operated by a fluid circuit which is pressurized by an electric pump and regulated by the action of a throttling device that has a plunger held over an opening by an electric solenoid. Movement of the plunger is detected by the change of impedance of a sensing coil as the plunger enters the coil.

Abstract: A machine for making bags out of thermoplastics material including a rotating drum having pockets, a feed station including means for feeding material into the pockets at a predetermined rate to form loops, the rate of feed being linked to the rotational speed of the drum by a feed-back control means to ensure that the loops are of a predetermined size. The loops are welded and cut by a laser to form bags.