Abstract: An improved remote control master-slave manipulator of the type by which an operator working on one side of a protective barrier wall may perform work on the opposite side of that wall. The improved manipulator is characterized by a unique power assist tong system permitting increased handling capacity. It has a rotating counterweight system for improved balancing of the manipulator in its "Y" motion forwardly away from the operator. It has means for translating linear motion into rotary motion for transfer through the barrier wall and retranslation into linear motion. The wrist joint assemblies are remotely removable, replaceable and interchangeable as are the tong assemblies.

Abstract: An improved system for effecting working access into sealed enclosures, such as glove boxes. The sytem includes an elongated arm-length sleeve, one end of which is sealed in a port fitting in the wall of the chamber and the other end of which is fitted with a replaceable glove. The elongated sleeve is preferably tapered from shoulder to wrist and of corrugated or convoluted structure for easy extension and retraction. The porthole fitting is preferably elliptical to maximize working access to the chamber. The inner end of the sleeve is fitted with a wrist bushing in which a glove supported on a deformable ring may be fit in sealed relation. The glove may be replaced with a further glove supported on a separate deformable ring without disruption of the sealed relationship.

Abstract: A device for sealing detachable components, such as gloves, windows or closure plugs, in the ports of rigid walled chambers, such as glove boxes. The sealing device permits displacement and replacement of a detachable component in place in such a port without breaking the seal to expose the interior of the chamber to the outside atmosphere, or vice versa. The sealing device is characterized by a hand hole bushing disposed in the port and secured to the chamber wall to define a passageway having a continuous sealing surface and a continuous adjacent groove for retaining a detachable component within the bushing. The detachable component is characterized by a deformable semi-rigid bead adapted to be snapped into the continuous groove of the bushing and a continuous channel holding an O-ring sealing element which engages the sealing surface of the bushing.

Abstract: A clamp for securing a loop in the end of a flat metallic tape of the type used for transmitting linear motion in remote control master-slave manipulators and securing the clamp to another manipulator element which transmits motion to the tape or is moved by force transmitted by the tape. The clamp is characterized by independence of the tape loop from variations in tensile load. The disclosed clamp includes an elongated tubular frame having an intermediate open section in which an anchoring pin or roller is mounted. The free end of the tape being secured is introduced into the end of the frame, passed around the pin or roller in partial peripheral engagement therewith and brought back out through the end of the frame. A tape clamping mechanism adjacent the frame end forces the abutting tape surfaces together against the inside surface of the frame to rigidly secure the tape loop. The clamp may be used to join two tape ends, or to connect a tape to a cable, or to anchor a tape to another manipulator part.