Two-axis hydraulic joint for high speed, heavy lift robotic operations
Conference
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OSTI ID:10139122
A hydraulically driven universal joint was developed for a heavy lift, high speed nuclear waste remediation application. Each axis is driven by a simple hydraulic cylinder controlled by a jet pipe servovalve. Servovalve behavior is controlled by a force feedback control system, which damps the hydraulic resonance. A prototype single joint robot was built and tested. A two joint robot is under construction.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 10139122
- Report Number(s):
- SAND-94-0827C; CONF-940859-13; ON: DE94009284; BR: GB0103012
- Resource Relation:
- Conference: 5. international symposium on robotics and manufacturing,Maui, HI (United States),14-18 Aug 1994; Other Information: PBD: [1994]
- Country of Publication:
- United States
- Language:
- English
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OSTI ID:10139122