Advanced remotely maintainable force-reflecting servomanipulator concept [electronic resource].
- Oak Ridge, Tenn. : Oak Ridge National Laboratory, 1984.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
- Physical Description:
- Pages: 11 : digital, PDF file
- Additional Creators:
- Oak Ridge National Laboratory and United States. Department of Energy. Office of Scientific and Technical Information
- Restrictions on Access:
- Free-to-read Unrestricted online access
- A remotely maintainable force-reflecting servomanipulator concept is being developed at the Oak Ridge National Laboratory as part of the Consolidated Fuel Reprocessing Program. This new manipulator addresses requirements of advanced nuclear fuel reprocessing with emphasis on force reflection, remote maintainability, reliability, radiation tolerance, and corrosion resistance. The advanced servomanipulator is uniquely subdivided into remotely replaceable modules which will permit in situ manipulator repair by spare module replacement. Manipulator modularization and increased reliability are accomplished through a force transmission system that uses gears and torque tubes. Digital control algorithms and mechanical precision are used to offset the increased backlash, friction, and inertia resulting from the gear drives. This results in the first remotely maintainable force-reflecting servomanipulator in the world. 10 references, 4 figures, 1 table.
- Report Numbers:
- E 1.99:conf-840793-1
- Published through SciTech Connect.
USDOE/ORNL/PNC national topical meeting on robotics and remote handling in hostile environments, Tokyo, Japan, 24 Jul 1984.
Martin, H.L.; Kuban, D.P.
- Funding Information:
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