A manipulator kinematic design for high-vacuum operation

Conference · Fri Jan 01 00:00:00 EST 1993

OSTI ID:6606057

Killough, S M

To meet the special requirements for remote maintenance in vacuum environments, a unique manipulator was designed that could be adapted easily to vacuum use. Rather than concerning on the components that traditionally have made vacuum use difficult, such as flexible wiring, we have developed a new kinematic design that will eliminate the use of these troublesome components. This new manipulator uses a parallel-link configuration to eliminate the need for mounting the motors on moving links, thus also removing the need for flexible cables. The configuration also provides several other unique and beneficial characteristics for nonvacuum USC.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE; USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6606057
• Report Number(s): CONF-930403-36; ON: DE93010264
• Resource Relation: Conference: 5. topical meeting on robotics and remote systems, Knoxville, TN (United States), 26-29 Apr 1993
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
MANIPULATORS
DESIGN
CONFIGURATION
FUNCTIONAL MODELS
HEAT TRANSFER
HIGH VACUUM
MOTION
ROBOTS
ULTRAHIGH VACUUM
ENERGY TRANSFER
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
420203* - Engineering- Handling Equipment & Procedures