58 



THE NAVY OCEAN ENGINEERING PROGRAM 



SHOULDER 



-HAND 



WRiST'' 



Manipulator developed for TRIESTE II and used in the THRESHER search 



mounted near the viewports and a set of tools for underwater use. The 

 manipulators have seven degrees of motion and are anthropomorphic in 

 design. HydrauHc power is used for actuation. Controls inside the per- 

 sonnel sphere allow the operator to control the arms to perform tasks. 

 The manipulators also have the capability of exchanging tools underwater. 

 This ability allows several tools to be used vdthout surfacing for tool 

 change. A sample basket is also available so that geological samples or 

 living specimens may be brought back. These manipulators are part of 

 a continuing effort to provide the Navy with a manipulator system to do 

 useful work in the ocean. 



ATMOSPHERE CONTROL 



The atmosphere control program embraces all aspects of control of 

 atmospheres in submersibles to insure viability and comfort of personnel. 



