| 摘要 |
A multi-function end effector for performing operations on equipment located in areas where human access is limited comprises a vertical support capable of being supported in the equipment on which the operations are to be performed, such as a nuclear steam generator, along with a table attached to the vertical support. The table is capable of positioning tools in relation to the equipment and is capable of driving the tools. The table comprises a centering device for positioning the tools in proper relation to the equipment.
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