Abstract
Abstract A multi joint remote manipulator was considered for use for the inspection of in-vessel components of fusion devices. In designing the in-vacuum manipulator, the major technical issues are the selection of lubrication methods and materials for movable parts and the introduction of extrication mechanisms which work in case of accidental failures. A performance test was made on a single joint with two axes. A special hydrocarbon grease was used as the lubricant since no solid lubricant materials endure the strong forces on the gears of the joint. Wire made from shape-memory alloy was utilized for the extrication mechanism. It has been demonstrated that the manipulator works well, in vacuum, for more than 1400 h.
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