| 摘要 |
A device (10) for performing an under water operation on an at least partially submerged structure (40) or in the vicinity of the at least partially submerged structure includes a base (15) including at least one coupling (20) for coupling the device to the structure; at least a first articulated movable arm (30) directly or indirectly connected at a proximal end thereof (31) to the base, the first movable arm including a tool (60) connected to a distal end (29) of the first movable arm, where the tool is movable in a three dimensional working range about the base, where the base includes at least one rail (22A, 22B), and where the movable arm (30) includes a support carriage (32) which engages with the rail in order to allow the movable arm to move along the rail. |
