Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

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Description

To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, ... continued below

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[150] p.

Creation Information

Kress, R.L.; Jansen, J.F.; Love, L.J. & Basher, A.M.H. September 1, 1996.

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This report is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 44 times , with 6 in the last month . More information about this report can be viewed below.

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  • Kress, R.L.
  • Jansen, J.F. Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.
  • Love, L.J. Oak Ridge Inst. for Science and Education, TN (United States)
  • Basher, A.M.H. South Carolina State Univ., Orangeburg, SC (United States)

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Description

To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical results are included.

Physical Description

[150] p.

Notes

INIS; OSTI as DE98003607

Source

  • Other Information: PBD: Sep 1996

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  • Other: DE98003607
  • Report No.: ORNL/TM--13300
  • Grant Number: AC05-96OR22464
  • DOI: 10.2172/665942 | External Link
  • Office of Scientific & Technical Information Report Number: 665942
  • Archival Resource Key: ark:/67531/metadc704506

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • September 1, 1996

Added to The UNT Digital Library

  • Sept. 12, 2015, 6:31 a.m.

Description Last Updated

  • June 14, 2016, 6:57 p.m.

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Kress, R.L.; Jansen, J.F.; Love, L.J. & Basher, A.M.H. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory, report, September 1, 1996; Tennessee. (digital.library.unt.edu/ark:/67531/metadc704506/: accessed September 18, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.