Tool handling system using hydraulic actuator

The scope of working motion is expressed in the angle of handling tool motion to move in required conditions with carrying a variety of tools such as hammer, grinder and roller. As this scope becomes larger and it is possible to do the handling work in complex shape and narrow block space. The driving axis of working motion is the number of axis of link type to construct the main axis of working assistant system. Generally, the working motion becomes much smoother as the number of this axis becomes larger. The kind of handling tools is generally classified into several categories to do the handling work in different handling method by using different handling tools such as hammer, grinder and roller. The number of driving axis of related motion is defined in relation with arm and wrist motion of worker when the operator in working suit is doing the handling work. The working velocity is defined as the velocity of handling tools to move in working path and it is closely related with the productivity of handling work. The working load is defined as the total force to be pulled and pushed at end of the working assistant system or to be hanged on it.