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Title: Underwater manipulator

Abstract

Self-contained, waterproof, water-submersible, remote-controlled apparatus is described 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 [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

Inventors:
;
Issue Date:
OSTI Identifier:
6040324
Patent Number(s):
5203645 A
Application Number:
PPN: US 7-819244
Assignee:
Dept. of Energy, Washington, DC (United States) IMS; EDB-93-122015
DOE Contract Number:  
AC11-76PN00014
Resource Type:
Patent
Resource Relation:
Patent File Date: 10 Jan 1992
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; REMOTE HANDLING EQUIPMENT; DESIGN; ACOUSTIC MEASUREMENTS; BELLOWS; ELECTRIC MOTORS; MANIPULATORS; REMOTE CONTROL; ULTRASONIC TESTING; ACOUSTIC TESTING; CONTROL; ENGINES; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; MATERIALS TESTING; MECHANICAL STRUCTURES; MOTORS; NONDESTRUCTIVE TESTING; TESTING; 420203* - Engineering- Handling Equipment & Procedures

Citation Formats

Schrum, P.B., and Cohen, G.H. Underwater manipulator. United States: N. p., 1993. Web.
Schrum, P.B., & Cohen, G.H. Underwater manipulator. United States.
Schrum, P.B., and Cohen, G.H. Tue . "Underwater manipulator". United States.
@article{osti_6040324,
title = {Underwater manipulator},
author = {Schrum, P.B. and Cohen, G.H.},
abstractNote = {Self-contained, waterproof, water-submersible, remote-controlled apparatus is described 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 [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1993},
month = {4}
}