Abstract: A segmented manipulator arm for a nuclear reactor vessel inspection device is disclosed. The several segments of the arm are linked in a manner which permits independent movement of each segment in a different plane of motion. The transducer array which is utilized to conduct the examination of any appropriate point in the reactor vessel is cooperably linked to the final or most forward segment of the manipulator arm.The first segment of the manipulator arm is appropriately coupled to the main column of the inspection device for independent movement in one of three planes relative to the main column. Additional segments are employed and cooperatively linked to the first segment to yield a total of nine planes of movement for one or more of the segments. In addition, brackets are used to constrain segment movement in parallel or predetermined planes as desired.

Abstract: A mechanical system is disclosed to capture and/or deploy a device or vehicle having relative motion with respect to another vehicle. The mechanism includes an on-board controlled collapsible iris assembly located at the end of a controlled manipulator system carried by one moving vehicle. The iris assembly by means of the manipulator system encircles a probe located on the other moving vehicle whereupon the iris assembly is activated and one or more iris elements close around the probe, thus capturing and axially aligning the other vehicle with the iris assembly. Additionally, a rotator assembly is included for spinning the iris assembly in a manner adapted to engage the probe of a spinning vehicle. Deployment of the other vehicle is accomplished by reversing the capture procedure.

Abstract: Gripping apparatus for the tongs of a remote manipulator having two generally triangular symmetrical elongated projections, each articulated to a tong body and having a rear end piece opposite to the end of the projection, wherein a detachable member which is fixed to each object to be manipulated and having a central portion which can be seized between the projections of the tongs, a supporting edge for the end piece of the projections projecting on either side of the central portion and two parallel flanges extending perpendicularly to the plane of the central portion on either side of the latter in order to cover the tong projections fastened to the central portion. A particular application of the apparatus is to handle radioactive materials in an active cell.