Abstract: A remote arm for a manipulator is disclosed, which has a boom tube having a distal end and housing a mechanical communication chain. A floating gearbox assembly is coupled to the boom tube and has an outer framework rigidly coupled to the distal end of the boom tube. An inner framework is retained by the outer framework and is rotatable relative to the outer framework. A drive gear is disposed in the inner framework, which is in mechanical communication with the mechanical communication chain. A wrist joint has a wrist joint housing and an output gear is disposed in the wrist joint housing, where the wrist joint housing is configured to detachably couple to the outer framework. The output gear is configured to mechanically communicate with the drive gear when the wrist joint housing is coupled to the outer framework.

Abstract: A manipulator command handle (147, 230, 330) comprising a handle framework (232, 332), a first cable (250, 350) having a first end (252, 352) and a second end, wherein the second end of the first cable is coupled to the handle framework, a first coupler block (241, 341) coupled to the first end of the first cable and a connector configured to reversibly couple to an output shaft (224, 322) of a manipulator wrist joint.

Abstract: A transfer port system is described herein having a port ring configured for placement in a barrier wall, where the port ring defines a port opening and an interface insert receptacle. The interface insert receptacle is configured to (1) interchangeably receive and (2) releasably fasten to each of a first interface insert and a second interface insert. The first interface insert defines a first set of mating features and the second interface insert defines a second set of mating features that are configured to form a seal with different mounting assemblies than the first mating features. The first set of mating features has a first geometry that is different than a second geometry of the second set of mating features.

Abstract: A manipulator command handle (147, 230, 330) comprising a handle framework (232, 332), a first cable (250, 350) having a first end (252, 352) and a second end, wherein the second end of the first cable is coupled to the handle framework, a first coupler block (241, 341) coupled to the first end of the first cable and a connector configured to reversibly couple to an output shaft (224, 322) of a manipulator wrist joint.

Abstract: A remote arm for a manipulator is disclosed, which has a boom tube having a distal end and housing a mechanical communication chain. A floating gearbox assembly is coupled to the boom tube and has an outer framework rigidly coupled to the distal end of the boom tube. An inner framework is retained by the outer framework and is rotatable relative to the outer framework. A drive gear is disposed in the inner framework. which is in mechanical communication with the mechanical communication chain. A wrist joint has a wrist joint housing and an output gear is disposed in the wrist joint housing, where the wrist joint housing is configured to detachably couple to the outer framework. The output gear is configured to mechanically communicate with the drive gear when the wrist joint housing is coupled to the outer framework.

Abstract: A replacement glove assembly has a replacement access element defining an outermost shoulder end and an innermost hand end configured to receive a hand of a user. A replacement sealing assembly engages the outermost shoulder end of the replacement access element and defines a leading radial face defining a first coupling structure, a trailing radial face defining a second coupling structure, and an outer annular surface configured to be received by a glove port. A first glove cap has a first side and a second side opposite the first side. The first side defines a first mating structure sealably engaged with the first coupling structure of the leading radial face. The second side defines a second mating structure that is configured to sealably engage the second coupling structure of the trailing radial face of the replacement sealing assembly.

Abstract: A replacement glove assembly has a replacement access element defining an outermost shoulder end and an innermost hand end configured to receive a hand of a user. A replacement sealing assembly engages the outermost shoulder end of the replacement access element and defines a leading radial face defining a first coupling structure, a trailing radial face defining a second coupling structure, and an outer annular surface configured to be received by a glove port. A first glove cap has a first side and a second side opposite the first side. The first side defines a first mating structure sealably engaged with the first coupling structure of the leading radial face. The second side defines a second mating structure that is configured to sealably engage the second coupling structure of the trailing radial face of the replacement sealing assembly.

Abstract: The current technology relates to a portion of a transfer port having a port ring configured for placement in a barrier wall. The port ring has a first side and a second side and defines a port opening extending from the first side to the second side. A port door is pivotably coupled to the second side and is configured to selectively and sealably obstruct the port opening. The port ring defines a sealing surface on the first side of the port ring, concentric to the port opening that is configured to receive a gasketing material. The port ring defines an interface insert receptacle having a portion of an annular surface concentric to the sealing surface and an inner cylindrical face extending between the first side and the annular surface. The port ring is configured define a fastening structure that is configured to releasably fasten to an interface insert.

Abstract: A replacement glove assembly has a replacement access element defining an outermost shoulder end and an innermost hand end configured to receive a hand of a user. A replacement sealing assembly engages the outermost shoulder end of the replacement access element and defines a leading radial face defining a first coupling structure, a trailing radial face defining a second coupling structure, and an outer annular surface configured to be received by a glove port. A first glove cap has a first side and a second side opposite the first side. The first side defines a first mating structure sealably engaged with the first coupling structure of the leading radial face. The second side defines a second mating structure that is configured to sealably engage the second coupling structure of the trailing radial face of the replacement sealing assembly.

Abstract: A replacement glove assembly is generally disclosed herein. The replacement glove assembly has a replacement access element defining an outermost shoulder end and an innermost hand end configured to receive a hand of a user. A replacement sealing assembly engages the outermost shoulder end of the replacement access element and defines a leading radial face defining a first coupling structure, a trailing radial face defining a second coupling structure, and an outer annular surface configured to be received by a glove port. A first glove cap has a first side and a second side opposite the first side. The first side defines a first mating structure sealably engaged with the first coupling structure of the leading radial face. The second side defines a second mating structure that is configured to sealably engage the second coupling structure of the trailing radial face of the replacement sealing assembly.

Abstract: What is disclosed is a system for retrofitting a sealed enclosure for performing work therein having an outer enclosure assembly configured to be clamped to the outer annular face of a port ring and form a sealed engagement with the outer annular surface of the port ring, a change assembly having an inner ring and an access element wherein the inner ring has a first annular cylinder body that is sized to be slidably received by the port ring and the access element is configured to be sealably and slidably positioned within the first annular cylinder body of the inner ring.

Abstract: What is disclosed is a system for retrofitting a sealed enclosure for performing work therein having an outer enclosure assembly configured to be clamped to the outer annular face of a port ring and form a sealed engagement with the outer annular surface of the port ring, a change assembly having an inner ring and an access element wherein the inner ring has a first annular cylinder body that is sized to be slidably received by the port ring and the access element is configured to be sealably and slidably positioned within the first annular cylinder body of the inner ring.

Abstract: A hazardous material transfer system for the transfer of waste from a containment cell through a transfer port to a storage vessel. A port door in the containment cell is movable between a open and closed positions relative to the transfer port. The port door has a closure face with a first connector set. A storage vessel sealed by a storage vessel cover is provided for receipt of waste transferred through the port. The cover has an outside face that carries a second connector set that interlocks with the first connector set on the port door. The inside face of the vessel cover has a third connector set. A fourth connector set is located on the storage vessel and mates with the third connector set to lock and seal the cover to the vessel. The connector sets are the variety that engage and disengage upon rotational motion.