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Title: Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

Abstract

To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlinesmore » the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical results are included.« less

Authors:
;  [1];  [2];  [3]
  1. Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.
  2. Oak Ridge Inst. for Science and Education, TN (United States)
  3. South Carolina State Univ., Orangeburg, SC (United States)
Publication Date:
Research Org.:
Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
Sponsoring Org.:
USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
OSTI Identifier:
665942
Report Number(s):
ORNL/TM-13300
ON: DE98003607; TRN: 99:000150
DOE Contract Number:  
AC05-96OR22464
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: Sep 1996
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; MANIPULATORS; DESIGN; HYDRAULIC EQUIPMENT; ACTUATORS; ORNL; TEST FACILITIES; CONTROL EQUIPMENT; COMPUTERIZED SIMULATION; PERFORMANCE

Citation Formats

Kress, R L, Jansen, J F, Love, L J, and Basher, A M.H. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory. United States: N. p., 1996. Web. doi:10.2172/665942.
Kress, R L, Jansen, J F, Love, L J, & Basher, A M.H. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory. United States. https://doi.org/10.2172/665942
Kress, R L, Jansen, J F, Love, L J, and Basher, A M.H. 1996. "Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory". United States. https://doi.org/10.2172/665942. https://www.osti.gov/servlets/purl/665942.
@article{osti_665942,
title = {Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory},
author = {Kress, R L and Jansen, J F and Love, L J and Basher, A M.H.},
abstractNote = {To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical results are included.},
doi = {10.2172/665942},
url = {https://www.osti.gov/biblio/665942}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Sun Sep 01 00:00:00 EDT 1996},
month = {Sun Sep 01 00:00:00 EDT 1996}
}