Master-slave servo manipulator system for the PRIDE facility

J. K. Lee, B. Park, H. Lee, Kiho Kim, Ho-dong Kim
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引用次数: 5

Abstract

A prototype of a master-slave servo manipulator system has been developed for the use in the PRIDE (PyRoprocess Integrated inactive DEmonstration) facility. The PRIDE facility is designed to have an argon-atmosphere cell which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. In this paper, we describe a motion-decoupled joint design of a cable-driven mechanism, a weight balancing analysis, and an interface system. The prototype manipulator system has been installed at a mock-up facility and the performance test of the manipulator system is currently carried out.
PRIDE设备的主从伺服机械手系统
一个主从伺服机械手系统的原型已经开发用于PRIDE(高温过程集成非活动演示)设施。PRIDE设备被设计成一个氩气环境,禁止人类操作员直接进入。因此,工艺设备的所有操作和维护都是通过主从操作远程执行的。在本文中,我们描述了一种运动解耦的缆索驱动机构的关节设计,重量平衡分析和接口系统。机械手系统的原型已经安装在一个模拟设备上,目前正在进行机械手系统的性能测试。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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