In-situ testing of BWR closure head studs

Mechanized ultrasonic inspection of closure head studs often is on the critical path. In German BWR's, a floodcompensator is used which allows human access to the studs despite the water is up to a much higher level. For stud inspection this provides a potential solution to get out of the critical path. However, the space restrictions around the studs due to the geometry of the floodcompensator did not allow the use of the existing manipulators. This paper describes the design of a dedicated compact manipulator of a construction which copes with the restricted space available around the studs