The design of toolhead changing manipulator is highly dependent on the specific application. The geometry, mobility of the existing system, the toolhead robot interface and the toolhead size and shape all are major factors in the development of an effective solution. The addition of other functional requirements increase the complexity of the design. The platform maintenance functions required in the BWNS problem increased the complexity to a 5 DOF feeding manipulator. This solution, while complex, is an effective and efficient solution to this specific application. The result should be a significant reduction in human radiation exposure and reduced steam generator service time. / Master of Science