Abstract: The wrist includes a first frameless permanent magnet AC powered motor 22 in a first housing 12 with this motor providing movement of a rack 34 along a translational axis A1 with a second frameless permanent magnet motor 42 carried in a second housing 18 connected to the carriage 16 of which the rack 34 is a part so that the housing 18 is movable along an insertion or translation axis A1 with the second motor 42 providing a rotary output. Both of the motors are AC powered and the rotors thereof are each supported solely by a single X type bearing 28 and 48.

Abstract: A SCARA type robotic manipulator apparatus including a base supporting first and second independently operable drive motors, toothed belts engaging toothed gears for rotating primary and secondary arms in response to the first and second drive motors respectively, and adjustable bidirectional belt tensioning assemblies associated with the belts to preload the belts to provide stable, repeatable operation of the robot arms.

Abstract: An apparatus for sealing the annulus defined between a substantially cylindrical rotatable first riser assembly and plug combination disposed in a substantially cylindrical second riser assembly and plug combination of a nuclear reactor system. The apparatus comprises a flexible member disposed between the first and second riser components and attached to a metal member which is attached to an actuating mechanism. When the actuating mechanism is not actuated, the flexible member does not contact the riser components thus allowing the free rotation of the riser components. When desired, the actuating mechanism causes the flexible member to contact the first and second riser components in a manner to block the annulus defined between the riser components, thereby sealing the annulus between the riser components.

Abstract: An apparatus for sealing the annulus defined between a substantially cylindrical rotatable first riser assembly and plug combination disposed in a substantially cylindrical second riser assembly and plug combination of a nuclear reactor system. The apparatus comprises a flexible metal member having a first side attached to one of the riser components and a second side extending toward the other riser component and an actuating mechanism attached to the flexible metal member while extending to an accessible location. When the actuating mechanism is not activated, the flexible metal member does not contact the other riser component thus allowing the free rotation of the riser assembly and plug combination. When desired, the actuating mechanism causes the second side of the flexible metal member to contact the other riser component thereby sealing the annulus between the components.