Publications / 1991 Proceedings of the 8th ISARC, Stuttgart, Germany

Practical Application of Master-Slave Manipulator with Force Reflection

Attila Bencsik, Tibor Kegl
Pages 247-256 (1991 Proceedings of the 8th ISARC, Stuttgart, Germany, ISSN 2413-5844)

The department of Mechanical Engineering of the Banki Donat Polytechnic has developed a master – slave manipulator with force reflection. In it’s 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 realisation 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 including cylinders. The 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 operations of manipulators (cranes). The paper reported on the preparatory works, summarised the structure of the master slave and part of the examinations necessary for the qualifications.

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