In this paper, we present the design of a cable-driven servomanipulator with motion-decoupled joints. The cable transmission connecting the actuators to the joints remotely, causes a motion coupling problem where the length or tension of the cable is changed due to an unwanted motion interference at joints. To maintain the cable length constant regardless of the rotation of the arm, we used three different schemes such as a motion-decoupled structure for a shoulder joint, a novel motion decoupling mechanism for an elbow joint, and an optimization of the geometric parameters for a wrist joint. Experimental results show that the overall cable length variation at the cable-driven joints is less than 0.01 mm. Therefore, we expect that the suggested decoupling methods could assure a more accurate motion control for a cable-driven servomanipulator.
This paper deals with the radiation effects on the advanced spent fuel conditioning process fac ility (ACPF) components which are mainly used for the actuating and sensing from the process equipment devised for an advanced spent fuel conditioning process (ACP). Test components have a higher priority from aspect of a reliability so their degradation or failure is able to critically affect the performance of the ACP equipment. Components that we chose for the irradiation tests were the AC servo motor, potentiom eter, thermocoupl es, accelerometer and CCO camera. Since gamma rays among various radioactive rays are the most significant to electric, electronic and robotic components , we tested them by using a gamma irradiation facility. Others except for the CCO camera showed a very high radiation hardening characteristic. Each component's characteristic change could be traced, and the correspond ing threshold values were determined. These test results could be used as valuable reference data to evaluate components reliability when it is used in a high radiation environment.
We propose control techniques to extend the fabrication area that is the limit of traditional laser fabrication systems. The current world trend of PCB core technology development is focused on next generation semi-conductor package board and special high value-added PCB including a buildup board. Laser fabrication is necessary when the process microscopic line width and the line over the scanner area and it should be synchronized scanner-stage. This cannot be done with the current Step & Scanning method. To solve this problem synchronization of the stage and scanner was facilitated to continuously process a wide-area. The processing speed and laser fabrication quality were also improved.
This paper describes a master-slave servomanipulator with a tendon transmission, which was designed to overcome the limited workspace of the conventional mechanical master-slave manipulators. The tendon transmission greatly reduces the weight and friction, and it also allows us to realize a zero-backlash reduction. However, it causes a motion coupling problem due to an unwanted motion interference at the joints. In this work, we solve this problem through a novel motion decoupling mechanism.
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