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Title: Underwater manipulator

Abstract

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.

Inventors:
 [1];  [2]
  1. (Clairton, PA)
  2. (Pittsburgh, PA)
Issue Date:
Research Org.:
WESTINGHOUSE ELECTRIC CORP
OSTI Identifier:
868747
Patent Number(s):
5203645
Assignee:
United States of America as represented by United States (Washington, DC) BAPL
DOE Contract Number:  
AC11-76PN00014
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
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/

Citation Formats

Schrum, Phillip B., and Cohen, George H. Underwater manipulator. United States: N. p., 1993. Web.
Schrum, Phillip B., & Cohen, George H. Underwater manipulator. United States.
Schrum, Phillip B., and Cohen, George H. Fri . "Underwater manipulator". United States. https://www.osti.gov/servlets/purl/868747.
@article{osti_868747,
title = {Underwater manipulator},
author = {Schrum, Phillip B. and Cohen, George H.},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1993},
month = {1}
}

Patent:

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