Mechanically operated manipulator for submarines - has mechanical hand mounted on jointed arm based on human arm

摘要

The manipulator is operated by hydraulic cylinders whose force is transmitted by belts and pulleys. All components are contained within the hollow members of the arm, which are filled with fluid. All seals in the manipulator are rotary ones on the spindles of the arm joints. The arm is symmetrical, but is designed to perform motions roughly corresponding to those of a human arm. A shoulder joint fastened to the submarine gives sideways swivelling and up and down movement. The elbow joint gives up and down movement while the two joints comprising the wrist give up and down motion and rotation.