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Title: Master-Slave Manipulator

Abstract

A device for manipulating a pair of tongs behind a shielding barrier has been built and tested. It is called a Master-Slave Manipulator because the slave tongs move in exact correspondence with a master handle. The "slave hands" follow the master hands in complete synchronism. This is the first completely master-slave manipulator known to exist and has proved that this type of manipulation is very successful when the unit is prooperly engineered and built.

Authors:
Publication Date:
Research Org.:
ANL (Argonne National Laboratory (ANL), Argonne, IL (United States))
Sponsoring Org.:
USDOE
OSTI Identifier:
1054625
Report Number(s):
ANL-4311
DOE Contract Number:
W-31-109-eng-38
Resource Type:
Technical Report
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING

Citation Formats

Goertz, R.C. Master-Slave Manipulator. United States: N. p., 1949. Web. doi:10.2172/1054625.
Goertz, R.C. Master-Slave Manipulator. United States. doi:10.2172/1054625.
Goertz, R.C. Mon . "Master-Slave Manipulator". United States. doi:10.2172/1054625. https://www.osti.gov/servlets/purl/1054625.
@article{osti_1054625,
title = {Master-Slave Manipulator},
author = {Goertz, R.C.},
abstractNote = {A device for manipulating a pair of tongs behind a shielding barrier has been built and tested. It is called a Master-Slave Manipulator because the slave tongs move in exact correspondence with a master handle. The "slave hands" follow the master hands in complete synchronism. This is the first completely master-slave manipulator known to exist and has proved that this type of manipulation is very successful when the unit is prooperly engineered and built.},
doi = {10.2172/1054625},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon Mar 07 00:00:00 EST 1949},
month = {Mon Mar 07 00:00:00 EST 1949}
}

Technical Report:

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  • The ability of Master-Slave Manipulator (CRL Model 8) operators to identify the slave hands and their movements with corresponding components and functions of the human body was investigated. A handling task involving rearrangement of blocks was devised to be performed with standard slave jaws (red jaws) and with slave jaws modified so that the jaw corresponding to the thumb of the operator was green. The task was performed at distances of 9, 36, and 63 in. from the radiation shield. Work time as a function of task distance was investigated and work ratios, based on mean time scores for directmore » handling vs. remote handling, were determined.« less
  • This report describes the decontamination and renovation of the Master/Slave Manipulator Repair Shop (MSMRS) and the Chemical Crane Room (CCR) at the WVDP from radioactively contaminated conditions to essentially shirt sleeve environments. In both cases, subsequent use recontaminated the rooms. Before decontamination, general exposure rates as high as 20 mrad/hr and surface contamination as high as 10/sup 5/ dpm/100 cm/sup 2/ were measured in the MSMRS, while general exposure rates in the CCR were 50 to 100 mrad/hr with hot spots as high as 2000 mrad/hr. Smearable levels on the floor in each room were in the range of 10/supmore » 5/ to 10/sup 6/ dpm per 100/cm/sup 2/. Respiratory protection was mandatory for entry into the CCR. The MSMRS, located at the north end of the Process Building on ground elevation, is needed for the refurbishment of plant manipulators and other equipment. The MSMRS has been decontaminated and renovated as follows: all tools, equipment and furnishings were removed, the walls were stripped and repainted, and the contaminated concrete floor was removed and disposal of as low-level waste. A new concrete floor was poured and a stainless steel liner covering the entire floor and extending 45.7 cm up the walls was added to provide the WVDP with a shop facility that can be easily decontaminated. Decontamination of the MSMRS has been completed and the facility is available for service. The CCR, located at the north end of the Chemical Process Cell (CPC) is for the storage and servicing of two bridge cranes used in the CPC. Decontamination and exposure reduction in the CCR has been completed using vacuum cleaning, damp wipe down, and surface grinding followed by shielding and painting.« less