Work Systems Package Automatic Tool Interchange.
DEPARTMENT OF THE NAVY WASHINGTON DC
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The work systems package was developed and fabricated under the Navys Deep Ocean Technology Program and is designed to provide a versatile work capability in an underwater environment to depths of 20,000 feet. The work system package is a group of manipulator arms and tools integrated into a modular package that will provide a heavy duty work capability when mounted as a unit on Navy manned or unmanned submersible vehicles. An automatic tool interchange system has been developed for the work systems package. This invention describes an apparatus and system which provides automatic tool interchange capability to the work system package by modifying the work system package manipulator. The automation and modification of the manipulator is accomplished through the addition of angular position sensors to the manipulator joints that are to be automatically controlled, providing the necessary command and feedback interfaces between a microprocessor and the work systems package manipulator, and devising a tool interchange computer algorithm for the microprocessor. More specifically, the apparatus comprises precision potentiometers as position sensors attached to the applicable joints of the manipulators arm, a data acquisition unit to receive feedback status from the position sensors, a microprocessor receiving the data from the data acquisition unit, a hand held computer terminal interface for controlling the microprocessor, a relay unit under control of the microprocessor for passing commands to control the manipulator, and the associated power supplies.
- Information Science
- Machinery and Tools
- Marine Engineering