| 摘要 |
A manipulator arm(26) for a nuclear reactor vessel inspection appts. carries a transducer array and has a segment driven independently through a plane parallel to a vertical axis, a 2nd. plane about the axis and a 3rd. plane to & from the axis, and a 2nd. segment linked to the 1st. and driven in a 4th. plane about an axis in the 3rd., with a 3rd. segment linked to the 2nd and driven in a 5th. plane normal to the 4th. A 4th. segment linked to the 3rd. is driven in a 6th. plane parallel to the 1st., and series-linked 5th., 6th. and 7th. segments are driven in further respective planes.
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