Accession Number:

AD0735122

Title:

CURV Linkage Manipulator

Descriptive Note:

Research and development rept. Jan-Dec 1970

Corporate Author:

NAVAL UNDERSEA RESEARCH AND DEVELOPMENT CENTER SAN DIEGO CA

Personal Author(s):

Report Date:

1971-11-01

Pagination or Media Count:

14.0

Abstract:

A spot-mounted, variable, rate-controlled hydraulic manipulator was developed for the cable-controlled undersea research vehicles, CURV 2 and CURV 3. This manipulator incorporates a mechanical linkage arm which provides linear hand extension and eliminates disorienting cross-coupling of functions. The wrist is extremely compact, and is designed to further minimize cross-coupling. The hand is a synchronized, paralled jaw linkage. This combination of mechanical features is desirable from the standpoint of human factors. Control signals are encoded in binary, and are sent to a pressure-balanced, hydraulic-flow control package. This unit decodes the signals, and energizes hydraulic valves which control the magnitude and direction of flow to the appropriate actuators. The overall system is well adapted for operation in the corrosive and high-pressure undersea environment.

Subject Categories:

  • Manufacturing and Industrial Engineering and Control of Production Systems
  • Marine Engineering

Distribution Statement:

APPROVED FOR PUBLIC RELEASE