Master/slave type manipulator

Details Master/slave type manipulator Master/slave type manipulator

1987-03-26

1990-01-16

Spar, Robert J.

Material or article handling

Article manipulator moves analogous with human hand, finger,...

Electric or fluid motor drive for manipulator

901 8, 318628, B25J 304

Patent

active

048939811

ABSTRACT:
A force feeling type master/slave manipulator comprises a detector for detecting a positional difference between master and slave machines, an actuator provided on the slave side and actuated so that the slave follows up the master on the basis of the above positional difference the manipulator, and a pressure sensor for detecting a pressure in a hydraulic cylinder in which an output signal of the pressure sensor is divided by any one of the shifting speed of a slave working machie, manipulating or operating speed of a master control lever, displacement in a spool of a flow control servo valve, speed difference between the master control lever and slave working machine and positional difference between the master control lever and slave working machine. The divided value signal is used to drive a torque actuator provided in a joint part of the control lever.

REFERENCES:
patent: 4305028 (1981-12-01), Kostas et al.
patent: 4367998 (1983-01-01), Causer
patent: 4510683 (1985-04-01), Fedde et al.
patent: 4531082 (1985-07-01), Yoshinada et al.
patent: 4640663 (1987-02-01), Niinomi et al.
"Remote Manipulator With Force Feedback", NASA Tech Briefs, Fall, 1980.
Mr. Fujii, "Problems On Servo Manipulator", Journal of the J.S.M.E., vol. 59, No. 449, June 1956.

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