AbstractA multi joint remote manipulator was considered for use for the inspection of in-vessel components of fusion devices. In designing the in-vacuum manipulator, the major technical issues are the selection of lubrication methods and materials for movable parts and the introduction of extrication mechanisms which work in case of accidental failures.A performance test was made on a single joint with two axes. A special hydrocarbon grease was used as the lubricant since no solid lubricant materials endure the strong forces on the gears of the joint. Wire made from shape-memory alloy was utilized for the extrication mechanism.It has been demonstrated that the manipulator works well, in vacuum, for more than 1400 h.