Advanced servomanipulator development

Conference · Mon Dec 31 23:00:00 EST 1984

OSTI ID:5355064

Kuban, D P

The Advanced Servomanipulator (ASM) System consists of three major components: the ASM slave, the dual arm master controller (DAMC) or master, and the control system. The ASM is remotely maintainable force-reflecting servomanipulator developed at the Oak Ridge National Laboratory (ORNL) 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.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5355064
• Report Number(s): CONF-8509156-2; ON: DE85017720
• Country of Publication: United States
• Language: English

Related Subjects

050000* -- Nuclear Fuels
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
COMPUTER-AIDED DESIGN
CONSOLIDATED FUEL REPROCESSING PROGRAM
CONTROL EQUIPMENT
CONTROL SYSTEMS
COORDINATED RESEARCH PROGRAMS
EQUIPMENT
LABORATORY EQUIPMENT
MAINTENANCE
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
PERFORMANCE
REMOTE HANDLING EQUIPMENT
REPROCESSING
RESEARCH PROGRAMS
SEPARATION PROCESSES
SERVOMECHANISMS