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Waste Clean Up 2

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Concept 1b: Arm Deployment: Waste Retrieval System Deployment Sequence

1 2 3 4

 5 6 7 8

9 10 11 12

drawings 1 - 10 show a cable controlled manipulator, called the Easily Manipulated Multiple Armature (EMMA) robot arm, and mast being deployed into the C-106 tank using the RoboCrane. Figure 11 shows EMMA working around a known tank obstacle and the center of gravity distance from the deployment location. Figure 12 shows the mast (left), EMMA (bottom) and deployment system (right).

Created August 26, 2011, Updated January 5, 2017