Underwater manipulator

Patent · Fri Jan 01 00:00:00 EST 1993

OSTI ID:868747

Schrum, Phillip B ^[1]; Cohen, George H ^[2]

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1. Clairton, PA
2. Pittsburgh, PA

Self-contained, waterproof, water-submersible, remote-controlled apparatus is provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer .+-.45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer .+-.10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

• Research Organization: Westinghouse Electric Corp., Pittsburgh, PA (United States)
• DOE Contract Number: AC11-76PN00014
• Assignee: United States of America as represented by United States (Washington, DC)
• Patent Number(s): US 5203645
• OSTI ID: 868747
• Country of Publication: United States
• Language: English

Related Subjects

underwater
manipulator
self-contained
waterproof
water-submersible
remote-controlled
apparatus
provided
manipulating
device
ultrasonic
transducer
measuring
crack
propagation
specimen
undergoing
shock
testing
subject
metal
bellows
transmittal
angular
motions
rotating
shaft
seals
o-rings
inside
stepper
motor
controls
movement
preferred
embodiment
permit
move
45
degrees
plane
10
orthogonal
addition
xy
motor-driven
table
provides
motion
shaft seal
crack propagation
stepper motor
ultrasonic transducer
preferred embodiment
rotating shaft
motor control
metal bellows
/405/166/