ARTICULATED MANIPULATOR FOR NAVIGATING AND SERVICING A HEAT EXCHANGER

A system configured to service a heat exchanger, wherein the heat exchanger comprises a plurality of tubes extending through a tubesheet. The system comprises a manipulator (10) and a control circuit. The manipulator (10) comprises a first end effector (12) comprising a first actuator (16) coupled to a first gripper (30) and configured to accommodate an instrument configured to service the heat exchanger, wherein the first actuator (16) is configured to extend the first gripper (30) into a tube of the plurality of tubes, and wherein the first gripper (30) is configured to secure the manipulator (10) to the tubesheet; a second end effector (14) comprising a second actuator (18) coupled to a second gripper (30), wherein the second actuator (18) is configured to extend into a tube of the plurality of tubes, and wherein the second gripper (30) is configured to secure the manipulator (10) to the tubesheet; and an articulation assembly (24) comprising a first link (26), a second link (28), and a motor (32; 34; 36), wherein the first link (26) is pivotally connected to the first end effector (12) and rotatable about a first axis (A1), wherein the first link (26) is pivotally connected to the second link (28) and rotatable about a second axis (A2), and wherein the second link (28) is pivotally connected to the second end effector (14) and rotatable about a third axis (A3). The control circuit is coupled to the first end effector (12), the second end effector (14), and the articulation assembly (24), wherein control circuit is configured to cause the motor (32; 34; 36) to move the first end effector (12) relative to the second end effector (14) in a plane (P1) that is parallel to the tubesheet, based on an instruction.