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A platform for research: civil engineering, architecture and urbanism
Practical application of master-slave manipulator with force reflection
The Department of Mechanical Engineering of the Banki Donat Polytechnic has developed a master-slave manipulator with force reflection. In its present developed form the master-arm has a rotating four freedom force reflection. Its potential measuring and force reflection units - which are hydraulic cylinders - are of module system. The master slave provides two solutions for the hydraulic realization of force reflection. The first operates according to the so called direct pressure perception. The other solution produces the pressure signal proportional to the force in the fields of the force inducing cylinders. The force perception can be disconnected by electronic control, by pre-selection according to freedom degrees or in any moment. The technical solution which has been developed can be universally used for force reflecting operation of manipulators (cranes). The paper reported on the preparatory works, summarized the structure of the master-slave and part of the examinations necessary for the qualifications.
Practical application of master-slave manipulator with force reflection
The Department of Mechanical Engineering of the Banki Donat Polytechnic has developed a master-slave manipulator with force reflection. In its present developed form the master-arm has a rotating four freedom force reflection. Its potential measuring and force reflection units - which are hydraulic cylinders - are of module system. The master slave provides two solutions for the hydraulic realization of force reflection. The first operates according to the so called direct pressure perception. The other solution produces the pressure signal proportional to the force in the fields of the force inducing cylinders. The force perception can be disconnected by electronic control, by pre-selection according to freedom degrees or in any moment. The technical solution which has been developed can be universally used for force reflecting operation of manipulators (cranes). The paper reported on the preparatory works, summarized the structure of the master-slave and part of the examinations necessary for the qualifications.
Practical application of master-slave manipulator with force reflection
Praktische Anwendung eines Master-Slave Manipulators mit Kraftreflektion
Bencsik, A. (author) / Kegl, T. (author)
1991
10 Seiten, 6 Bilder, 2 Quellen
Conference paper
English
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