Improvement of Twin-Arm Birateral Servomanipulator

The Prototype-II Twin-Arm Birateral Servo-Manipulator developed by PNC has been evaluated by apply to remote handling and maintenance test from November, 1986 to March, 1988 in the Engineering Demonstration Facility III(EDF-III). Above test results showed that there were no major problems to apply the Prototype-II Servo-Manipulator to the hot facility. However, to obtain higher operability, some modifications were conducted on the Prototype-II Servo-Maipulator based on the analysis of test results, such as; (1) Reduce the master arm operation force (2) Improve the force-feedback function and (3) Enlarge the motion range of slave arm wrist portion. The evaluation test results showed the significant improvement of operability compared with the results of same kinds of test which was conducted before modification. This paper presents the substance of the Prototype-II Servo-Manipulator modification. (author)