Manipulators Mascot IV Used in Jet and Prospects of Enhancement
Manipulators Mascot IV Used in Jet and Prospects of Enhancement
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喷气式机械手Mascot IV及其增强前景
DOI：
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发表时间：
1992
期刊：
影响因子：
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通讯作者：
L. Galbiati
中科院分区：
文献类型：
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作者：
T. Raimondi;L. Galbiati
用于JET托卡马克维护的机械手是Mascot IV，一种基于双边位置伺服系统的微处理器控制单元。它是从60年代ENEA开发的模拟版本《Mascot III》演变而来。这种类型的力反馈伺服机械臂的主要目标是尽可能地给操作者提供实际工作的触觉感觉。它的成功取决于许多特性：灵敏度，刚度，时间响应和低反射惯性，为操作员提供及时准确的反馈，使他能够本能地做出反应。这些特性是通过使用低摩擦交流电机、高分辨率R/D转换器、快速采样时间和信号传输中的短延迟来实现的。速度和加速度信号用于减小粘性力和惯性变化。数字系统减少了所需的布线，并为操作人员引入了先进的辅助设备：教学和重复，有助于精确焊接和预定位从臂，工具重量补偿和给定平面或直线上的轨迹约束。通过相机跟踪辅助观看。
The telemanipulator chosen for maintenance of JET tokamak is Mascot IV, a microprocessor controlled unit based on bilateral position servosystem. It evolved from the analogue version Mascot III developed at ENEA in the 60’s. The main objective of this type of force feed-back servomanipulator is to give the operator, as nearly as possible, the tactile sensation of actually doing the job. Its success in this depends on a number of characteristics: sensitivity, stiffness, time response and low reflected inertia, to give the operator a prompt and precise feedback so that he can react instinctively. Such characteristics are achieved by using low friction AC motors, high resolution R/D converters, fast sampling time and short delays in the signal transmissions. Velocity and acceleration signals are used to reduce viscous forces and variation of inertia. The digital system has permitted a reduction of the cabling required and the introduction of advanced aids for the operator: teach-and-repeat, useful for precision welding and prepositioning of the Slave arms, toolweight compensation and constraint of the trajectory on given planes or lines. Viewing is assisted by camera tracking.