Tubular handling system

A pipe handling system for a drill rig having a V-door, said pipe handling system comprising a bicep arm assembly pivotally connected to a base plate, a forearm assembly pivotally attached to a distant end of said bicep arm assembly, and a gripper head pivotally connected to a distant end of said forearm assembly, said base plate and said bicep arm assembly being mounted to the structure of said drill rig such that said forearm assembly and said gripper head are operable to move tubulars from a piperack into a position above the drill floor of said drill rig, said base plate being detachably mounted to said bicep arm assembly, said base plate being removably connected to and relatively movable with a base mounting plate attached to said structure of said drill rig, said forearm assembly and said gripper head assembly being movable to transfer said tubulars from said piperack to said drill floor through said V-door of said drill rig.