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
- Application Number:
- PPN: US 7-819244
- Assignee:
- Dept. of Energy, Washington, DC (United States)
- 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}
}