Remote manipulator arm for nuclear generator repair

A remote manipulator arm for positioning and operating tube sheet repair tools within a nuclear generator shell. The arm includes a number of arm segments linked serially, each having a remotely-controlled motor to pivot an elbow in the arm segment by way of gears. A mounting bracket passes through a manhole in the generator shell and provides a stable point of connection for the arm, both inside and outside the shell, as well as connections for power and control signals to the arm. A workhead is provided for mounting on the arm end opposite the bracket, and can carry a plurality of tools to conduct repair operations on tubes. The mounting bracket can be installed from without the shell and does not block the manhole, and the arm is self-installing, requiring no human presence within the generator shell