Material or article handling – Article manipulator moves analogous with human hand – finger,... – Motion of hand – finger – or arm member multiplied or reduced...
Patent
1977-06-13
1979-04-10
Werner, Frank E.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Motion of hand, finger, or arm member multiplied or reduced...
165 76, 254105, 414 4, B25J 900
Patent
active
041484037
ABSTRACT:
A remote access manipulator for performing operations on equipment located in areas where human access is limited. The manipulator comprises a slave carriage located in the equipment on which the operation is to be performed, such as a nuclear steam generator, for carrying tools and inspection devices for performing operations on the equipment together with a master carriage located in a scale model of the equipment and electrically connected to the slave carriage for controlling the movement of the slave carriage. The slave carriage comprises a five link mechanism with the links rotatably connected and is capable of advancing across a surface of the equipment to position the devices which it carries. The manipulator further comprises a slave manipulator arm used to move the slave carriage into and out of the equipment on which the operation is to be performed in conjunction with a master manipulator arm located in the scale model for controlling the movement of the slave manipulator arm.
REFERENCES:
patent: 3913752 (1975-10-01), Ward et al.
patent: 4004698 (1977-01-01), Gebelin
patent: 4018346 (1977-04-01), Leshem et al.
patent: 4059196 (1977-11-01), Uchino et al.
Steam Generator Update-Jul. 1976-Westinghouse Elec. Corp.-pp. Nos. 10153-10155 to 10153-10159.
DePaul L. A.
Dermer Z. L.
Werner Frank E.
Westinghouse Electric Corp.
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