Abstract: A self relocating manipulator assembly which is movable so as to be secured to any one of a number of fixtures which are spaced from one another on a support structure. The manipulator assembly comprises, a boom which has first and second end effectors each adapted to releasably secured to any one of the fixtures. First and second articulators are provided which serve to mount the first and second end effectors at first and second ends of the boom respectively. The first and second articulators provide a sufficient degree of movement between the end effectors and the boom to allow one end effector to be moved toward and away from one of said fixtures while the other end effector remains mounted on one of said fixtures. A power transmission system is associated with each articulator for articulating the boom with respect to either end effector whereby the manipulator assembly may relocate itself by sequentially securing and releasing one of the end effectors and then the other with respect to said fixtures.