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Title: Underwater manipulator

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.
 [1] ;  [2]
  1. (Clairton, PA)
  2. (Pittsburgh, PA)
Publication Date:
OSTI Identifier:
Report Number(s):
US 5203645
DOE Contract Number:
Resource Type:
Research Org:
Country of Publication:
United States
underwater; manipulator; self-contained; waterproof; water-submersible; remote-controlled; apparatus; provided; manipulating; device; ultrasonic; transducer; measuring; crack; propagation; underwater; specimen; undergoing; shock; testing; subject; manipulator; metal; bellows; transmittal; angular; motions; rotating; shaft; seals; o-rings; inside; manipulator; stepper; motor; controls; angular; movement; preferred; embodiment; bellows; permit; stepper; motor; move; ultrasonic; transducer; 45; degrees; plane; bellows; permit; stepper; motor; move; transducer; 10; degrees; plane; orthogonal; addition; xy; motor-driven; table; provides; xy; motion; shaft seal; crack propagation; stepper motor; stepper motor; stepper motor; ultrasonic transducer; ultrasonic transducer; preferred embodiment; rotating shaft; motor control; metal bellows /405/166/