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Title: MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

Abstract

ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The openmore » architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.« less

Authors:
Publication Date:
Research Org.:
Arm Automation, Inc. (US)
Sponsoring Org.:
(US)
OSTI Identifier:
810614
DOE Contract Number:  
AR26-98FT40371
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: 31 Jul 2001
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ACTUATORS; AUTOMATION; FABRICATION; FLEXIBILITY; MANIPULATORS; DESIGN; ROBOTS; PLUTONIUM; PROCESSING; REPAIR; TESTING; MODULAR STRUCTURES

Citation Formats

Joseph W. Geisinger, Ph.D.. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS. United States: N. p., 2001. Web. doi:10.2172/810614.
Joseph W. Geisinger, Ph.D.. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS. United States. doi:10.2172/810614.
Joseph W. Geisinger, Ph.D.. Tue . "MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS". United States. doi:10.2172/810614. https://www.osti.gov/servlets/purl/810614.
@article{osti_810614,
title = {MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS},
author = {Joseph W. Geisinger, Ph.D.},
abstractNote = {ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.},
doi = {10.2172/810614},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Jul 31 00:00:00 EDT 2001},
month = {Tue Jul 31 00:00:00 EDT 2001}
}

Technical Report:

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