RM-10A robotic manipulator system
The REMOTE RM-10A is a man-replacement manipulator system that has been developed specifically for use in radioactive and other hazardous environments. It can be teleoperated, with man-in-the-loop, for unstructured tasks or programmed to perform routine tasks automatically much like robots in the automated manufacturing industry. The RM-10A is a servomanipulator utilizing a closed-loop, microprocessor-based control system. The system consists of a slave assembly, master control station, and interconnecting cabling. The slave assembly is the part of the system that enters the hostile environment. It is man-like is size and configuration with two identical arms attached to a torso structure. Each arm attaches to the torso using two captive screws and two guide pins. The guide pins position and stabilize an arm during removal and reinstallation and also align the two electrical connectors located in the arm support plate and torso. These features allow easy remote replacement of an arm, and commonality of the arms allow interchangeability. The water-resistant slave assembly is equipped with gaskets and O-ring seals in the torso and arm and camera assemblies. In addition, each slave arm's elbow, wrist, and tong are protected by replaceable polyurethane boots. An upper camera assembly, consisting of a color television (TV) camera, 6:1 zoom lens, and a pan/tilt unit, mount to the torso to provide remote viewing capability.
- OSTI ID:
- 5946136
- Report Number(s):
- CONF-881011-
- Journal Information:
- Trans. Am. Nucl. Soc.; (United States), Journal Name: Trans. Am. Nucl. Soc.; (United States) Vol. 57; ISSN TANSA
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
22 GENERAL STUDIES OF NUCLEAR REACTORS
220900 -- Nuclear Reactor Technology-- Reactor Safety
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
CABLES
COMPUTERIZED CONTROL SYSTEMS
CONTROL EQUIPMENT
CONTROL SYSTEMS
DEGREES OF FREEDOM
ELECTRICAL EQUIPMENT
EQUIPMENT
FILTERS
LABORATORY EQUIPMENT
MAINTENANCE
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MODULAR STRUCTURES
NUCLEAR FACILITIES
NUCLEAR POWER PLANTS
PACKAGING
POWER PLANTS
RADIATION PROTECTION
REMOTE HANDLING EQUIPMENT
REMOTE VIEWING EQUIPMENT
ROBOTS
SERVOMECHANISMS
TECHNOLOGY TRANSFER
THERMAL POWER PLANTS