The dexterous work manipulator is a seven-function, hydraulically actuated, rate- 

 controlled arm mounted above and to starboard of center. This position, in relation to 

 the operator's normal viewing position above center and behind the package, is analogous 

 to the relative positions of the right arm and eye of a human; it thus provides some 

 anthropomorphic familiarity to the operator. Lift capacity of the manipulator is 100 

 pounds (45 kilograms) with the arms hilly extended to 6 feet (2 meters). Lines from the 

 main hydraulic power unit run to the jaw. The jaw is equipped with quick disconnects 

 which mate with similar connections on the hydraulic tools. This permits hydraulic power 

 to be coupled underwater and transmitted to the tool when it is grasped, without the need 

 for hoses on each tool. 



The tools are held by compliant brushes in a tubular aluminum holder which is 

 positioned opposite the primary manipulator and normally out of the frontal viewing area. 

 The holder can be extended so that the tools are extracted or replaced along a radial line 

 corresponding to the manipulator's linear extension capability, thus shortening the time 

 required to perform a tool exchange. Bits, such as drills or sockets, are held in clips along 

 the upper and outside edge of the holder. 



It was envisioned that the WSP would do the work of divers operating at great 

 depths; therefore, large tools are not included. The tools provided are the type and size 

 that would normally be used by a mechanic performing field operations on land. The 

 tool suite was selected on the basis of work functions required to perform typical under- 

 water tasks, such as those encountered in salvage operations. These include debris clearance, 

 hull penetration, lift device attachment, and salvage valve coupling attachment. The tools 

 are divided into three categories: rotary, linear, and power velocity (explosively-actuated). 

 Hydraulic operation was selected for most tools, as well as for the manipulators and other 

 actuators, because of its inherent advantages of precise control, high power density, and 

 insensitivity to depth pressure. The rotary tools, such as the chipping hammer, are powered 

 by small, fixed-displacement piston motors, while the linear tools are operated by linear 

 actuators. Both represent a pioneering effort toward a comprehensive underwater tool 

 suite. The power-velocity tools, cable cutter, and stud driver are used in applications where 

 a high-energy output for a short duration is desired. They are simple and easy to operate, 

 but can be used only once during an operation. Consequently, several spaces in the tool 

 holder are reserved for these tools. Table 1 contains a summary description of WSP tools 

 and their capabilities. 



