Master/slave type manipulator
US4893981A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 26, 1987 |
| Grant date | Jan 16, 1990 |
| Priority date | — |
| Expiry date | Mar 26, 2007 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J3/04
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.