taking in a string which ran from it to a 

 manually-cranked reel on the pressure hull. 

 "Jury rigged" though it may have been, the 

 hook was placed, and the tug boat was sal- 

 vaged. SEA OTTER, it should be mentioned, 

 does have a more sophisticated capability in 

 the form of a manipulator of the BEAVER 

 type which could have been employed if 

 needed. 



SHELF DIVER'S manipulator (Fig. 10.39b) 

 is typical of Perry Submarine Builder's ap- 

 proach. A hydraulic pump in the pressure 

 hull provides power for three degrees of free- 

 dom within its 6.5-foot-diameter working 

 area. The manipulator is not jettisonable, 

 but it has a feature whereby the hydraulic 

 lines can be opened and the ambient pres- 

 sure (caused by the entry of seawater into 

 the lines) will open the claw and retract the 

 arm. The Perry manipulator was designed 

 for sample retrieval, as was DS-4000"s (Fig. 

 10.39c). In the latter case, the arm has three 

 degrees of freedom and also operates on hy- 

 draulics; it can be jettisoned if necessary. 



STAR II (Fig. 10.39d) obtains an additional 

 degree of freedom by including an elbow in 

 its arm. Also, its shoulder joint can rotate 

 more liberally in the horizontal than that of 

 the two predecessors above. 



ISEREID 330's manipulator (Fig. 10.39e) is 

 by far the most powerful of any submersible, 

 and its owners refer to it as a "two stage 

 manipulator system." The heavy work arm is 

 a hydraulic crane that lifts 2,500 pounds at a 

 reach of 15 feet and also serves as the base 

 for a smaller lightweight 'intelligent' arm 

 behind the strong claw. With the strong claw 

 attached to the work object the dexterity of 

 the small arm becomes as good at 2 feet as at 

 15 feet. The small arm is partly equipped 

 with manually driven joints to give the oper- 

 ator a sense of "feel." To provide a stable 

 base for the manipulator, the vehicle is capa- 

 ble of obtaining 5,500 pounds of negative 

 buoyancy by taking on seawater. 



PISCES III (Fig. 10.39f) carries both a 

 grasping and a "working" manipulator; the 

 latter is termed the PHA. The circular grasp- 

 ing manipulator serves primarily to hold the 

 vehicle in place while the more dexterous 

 PHA works. Both manipulators are jettison- 



able, and the PHA may be operated at var- 

 ious speeds. All PISCES class submersibles 

 are capable of this arrangement, and the 

 aluminum PHA (which can operate to 6,500 

 ft) is standard equipment on all HYCO-built 

 vehicles. An upgraded HYCO version of the 

 manipulator shown in Figure 10.39f is the 

 manipulator shown in Figure 10.40a. This 

 has six degrees of freedom and a pressure- 

 compensation system to permit operation to 

 any depth. The later HYCO submersibles 

 {AQUARIUS, ARIES) have this manipulator 

 in place of the PHA. 



The manipulator on DEEP VIEW (Fig. 

 10.40b) was an experimental model. It is 

 shown here, not because it represents a radi- 

 cal departure or improvement in capabilities 

 or design, but because it is a different ap- 

 proach to collecting samples with the same 

 degrees of freedom as the Perry and DS- 

 4000 manipulators. 



ALUMINAUT's manipulators (Fig. 10.40c) 

 represented the most advanced technological 

 achievement of the late sixties. Each arm 

 has six degrees of freedom. Working together 

 they provide a high degree of versatility. 

 When not in use, the manipulators retract 

 and fold back under the bow. 



SEA CLIFF'S and TURTLE'S manipulator 

 system (Fig. 10.40d) includes an external 

 stowage arrangement, provision for mount- 

 ing a television camera and underwater 

 light, a jettison system, interchangeable 

 tooling capacity, sample collecting basket 

 and a remote control system. The manipula- 

 tors are capable of nine separate motions, 

 including a tool power takeoff and tool re- 

 lease, and they may be jettisoned separately, 

 or both at once. Three tool stowage racks and 

 one sample basket mounted forward of the 

 manipulators' shoulder assemblies provide 

 for tool interchangeability and sample collec- 

 tion (these racks and baskets are jettisoned 

 with the manipulators). An additional sam- 

 ple basket can be substituted for one tool 

 rack if desired. 



Each manipulator arm consists of four 

 basic assemblies: shoulder, upper arm, lower 

 arm, and wrist. These assemblies are cylin- 

 drical to minimize the possibility of entangle- 

 ment. They are filled with manipulator hy- 

 draulic return oil; thus each assembly is 

 pressure-compensated to slightly above sea 



528 



