1961 – Submaray Submersible by Doug Privitt started being built in 1961 and was launched in 1962.
Privitt inside Submaray operating the simple rod manipulator arm. It appears to slide inside a ball-and-socket joint, as can be seen in the video clip. Although a simple setup, this arm is quite efficient and versatile. The claw can be interchanged with other tools and attachments using a quick-attachment feature.
Video of Submaray demonstrating its manipulator arm.
Arm fully extended picking up object.
Demo of manipulator lifting an anchor
Arm collecting samples.
Image source: Manned Submersibles, Frank Bushby, 1976.
See another rod and ball-joint arm here.
See other early Underwater Robots here.