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Title: Electromechanical actuator for the tongs of a servomanipulator

Abstract

Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

Inventors:
 [1];  [1]
  1. Knoxville, TN
Issue Date:
Research Org.:
Oak Ridge National Laboratory (ORNL), Oak Ridge, TN
OSTI Identifier:
865967
Patent Number(s):
4608526
Assignee:
United States of America as represented by United States (Washington, DC)
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
electromechanical; actuator; tongs; servomanipulator; computer-augmented; provided; controlling; mechanical; motor-driven; remote; slave; arm; manipulator; motor; control; current; supplied; position; sensor; senses; spring-loaded; trigger; master; handle; provides; operator; artificial; force; reflection; unilateral; force-force; loop; position sensor; control loop; motor control; force control; /318/74/244/901/

Citation Formats

Martin, H Lee, and Killough, Stephen M. Electromechanical actuator for the tongs of a servomanipulator. United States: N. p., 1986. Web.
Martin, H Lee, & Killough, Stephen M. Electromechanical actuator for the tongs of a servomanipulator. United States.
Martin, H Lee, and Killough, Stephen M. Wed . "Electromechanical actuator for the tongs of a servomanipulator". United States. https://www.osti.gov/servlets/purl/865967.
@article{osti_865967,
title = {Electromechanical actuator for the tongs of a servomanipulator},
author = {Martin, H Lee and Killough, Stephen M},
abstractNote = {Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1986},
month = {1}
}

Patent:

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