A Solution for Remote Handling in Accelerator Installations

This paper describes a remote handling system, designed for LAMPF, and versatile enough to be used in a variety of situations found around particle accelerators. The system consists of a bilateral (forcereflecting) servo-manipulator installed on an articulated hydraulic boom. The boom also carries the necessary tools and observation devices. The whole slave unit can be moved by crane or truck to the area of operation. A control cable connects the slave unit with the control station, located at a safe distance in a trailer. Various stages of development as well as some operating experience are discussed.