Multi-arm transporters for teleoperations in the JET fusion experiment

In order to carry out the remote operations that are envisaged, it must be possible to position a dexterous manipulator in the working area inside or outside the vacuum vessel. Owing to the size of the machine the transporters designed to do this have to have a very large reach. At the same time, extremely precise positioning is required as access into the vessel is by way of ports of small dimensions, and the vast array of peripherals surrounding it constitute obstacles that must be avoided. The structure of the articulated boom for in-vessel operations and its operation modes are described