Title :
Master-slave servo manipulator system for the PRIDE facility
Author :
Lee, Jong Kwang ; Park, Byung Suk ; Lee, Hyo Jik ; Kim, Kiho ; Kim, Ho-Dong
Author_Institution :
Korea Atomic Energy Res. Inst., Daejeon, South Korea
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.
Keywords :
manipulator kinematics; motion control; servomechanisms; telecontrol; PRIDE facility; argon atmosphere cell; cable driven mechanism; interface system; master slave servo manipulator system; motion decoupled joint design; process equipment; pyroprocess integrated inactive demonstration; weight balancing analysis; Elbow; Joints; Manipulators; Master-slave; Mechanical cables; Pulleys; Wrist; Cable selection; PRIDE; interface system; master-slave manipulator; motion decoupling; weight balancing;
Conference_Titel :
Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4244-6633-7
DOI :
10.1109/CARPI.2010.5624414
