Abstract: An improved robotic arm which is capable of accurately manipulating a testing device beneath the tube sheet of the steam generator and accurately and consistently return to a selected tube location is provided. The robotic arm includes a base which is adapted to be fixedly secured to a support beam which initially positions the robotic arm within the steam generator, a first extension arm which is rotatably mounted on the base forming a primary rotation joint and which extends essentially parallel to the tube sheet. A second extension arm is rotatably mounted at the end of the first extension arm forming a secondary rotation joint and further extends therefrom. The testing device such as an eddy current inspection tool is positioned at a distal end of the second extension arm.

Abstract: Shielding and exhaust covers are disclosed herein which are mountable on the primary manways of a nuclear steam generator for protecting maintenance personnel from potentially harmful radiation during maintenance operations. Each of these doors includes mounting flanges which are detachably mountable to the manway flange. These mounting flanges include brackets for mounting a jewel rail track assembly which in turn slidably mounts two opposing quarter circle panels which, when slid together, form a semicircular shielding cover. The shielding and exhaust covers of the invention may be easily mounted over their respective manways by a single person, and may be opened or closed by a single person standing to the side of the manway and hence out of the radiation shine eminating therefrom. Finally, the shielding material contained in each of the covers is hermetically sealed within stainless sheet metal, which renders it mechanically strong and easily decontaminated.

Abstract: An improved robotic arm for effecting a tube plugging operation is disclosed herein. The improvement generally comprises the provision of a compliance coupling between the plugging tool and the guidance mechanism of the robotic arm that is compliant in three dimensions, thereby allowing the plugging tool to smoothly insert tube plugs into the mouths of heat exchanger tubes despite inaccuracies in alignment caused by sag and other factors. The improvement further comprises a length adjustment assembly for allowing the length of the base arm of the robotic arm to be easily and conveniently changed so that the robotic arm can service more than one particular type of nuclear steam generator, as well as an emergency release mechanism for remotely detaching the tool from the arm in the event of a jam.