Archive image from page 35 of Development of an underwater manipulator. Development of an underwater manipulator for use on a free-swimming unmanned submersible . developmentofund00boss Year: 1981 4b. Write rotate, upper claw, lower claw: Run two twisted Teflon-insulated, 22-gauge wires through the fitting and let them stick out of the housing (not shown in the photograph). 4c. Elbow pivot: Proceed with three wires as described in 4a, but instead of running the wires through the fit- ting, let them stick out of the outer housing. 32

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