Abstract: A vehicle of the invention comprises at least two transfer arms including means for causing expansible positioning fingers to penetrate into the tubes of a steam generator and for extracting said fingers from said tubes. The vehicle also includes at least two pivoting fastening heads which contain said expansible positioning fingers. The heads are interconnected by one of the telescopic transfer arms, which arms extend perpendicularly to said pivoting heads. The other telescopic transfer arm is fixed to one of the heads and it extends perpendicularly therefrom with its opposite end carrying a tool support. Such a vehicle is particularly suitable for inspecting and maintaining tubes in tube apparatuses, e.g. the steam generators of pressurized water nuclear reactors.