A complete socking assembly for a pair of standard Model 8 master-slave manipulators is shown in Fig. 1, mounted on a hot-cell box designed for totally enclosed operation behind a shielding wall.nThe assembly can be considered in three sections:n1. The upper inverted cone section with its suspension system, which provides for X and Y motion of the slaves.n2. The bellows section, which provides for Z motion as well as wrist movement and rotation.n3. The mitten, which encloses the tong-activating fingers.nThe upper section is constructed of 0.020-in. polyvinyl chloride sheeting, fabricated and welded by standard techniques.
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