Abstract: The manipulator has a base including an elongated bar having a center between first and second opposed ends. Fluidly actuated end effectors at the first and second ends of the base, are extensible for bracing the base against opposed support surfaces on the steam generator, such as locator pins situated within the clamp ring. A rigid arm is connected to the center of the base and extends radially to a free end. A first drive means is provided for remotely rotating the arm around a rotation axis passing through the center perpendicularly to the base. The preferred transducer means include a bracket situated at the free end of the arm, a pair of radially spaced apart mounting posts supported by the bracket and extending in parallel with the rotation axis, and a transducer shoe assembly carried by each post. A transducer element is mounted in each of the shoe assemblies.