Dual arm master controller development

Conference · Tue Jan 01 00:00:00 EST 1985

OSTI ID:5631278

Kuban, D P; Perkins, G S

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. This work was performed as part of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 5 refs., 7 figs., 1 tab.

• Research Organization: Oak Ridge National Lab., TN (USA); Jet Propulsion Lab., Pasadena, CA (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5631278
• Report Number(s): CONF-8505144-1; ON: DE85012882
• Resource Relation: Conference: 19. annual aerospace mechanism symposium, San Francisco, CA, USA, 2 May 1985
• Country of Publication: United States
• Language: English

Related Subjects

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
CONSOLIDATED FUEL REPROCESSING PROGRAM
FUEL REPROCESSING PLANTS
REMOTE HANDLING EQUIPMENT
SERVOMECHANISMS
MANIPULATORS
DESIGN
PERFORMANCE TESTING
HUMAN FACTORS ENGINEERING
REMOTE CONTROL
CONTROL
CONTROL EQUIPMENT
COORDINATED RESEARCH PROGRAMS
ENGINEERING
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
RESEARCH PROGRAMS
TESTING
050800* - Nuclear Fuels- Spent Fuels Reprocessing