Test results for robotic manipulator EMMA Page: 21 of 54
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WHC-SD-WM-TD-012, Rev 0
5.0 Pretension and Stability
Preparation
The primary data necessary for testing here is as
follows:
" observations of stage one cable conduit behavior in
tests under other sections;
- observations of winch suitability in tests performed
in section 4.0.
A pull cable system, consisting of conduit and cable, as shown in
Figure 7, is highly desirable for final versions of EMMA, both for
WHC and NIST. Although we have shown that conduit will isolate
stage one motion from stage two cables, the conduit and cable we
have were not specifically designed for use with one another. In
an engineered system, there would be a specification on the amount
of tension that can be lost by the cable to the conduit, given the
length of conduit and amount of tension.
Conclusions
We had no such spec during testing, and excessive tension was lost
to the conduit we used in these tests. A vendor has since been
identified for the pull cable system we need. This system will
improve pull cable performance a great deal.
We have observed that such a system, even though it may perform
well under curves at its minimum bend radius, also improves in
performance when conduit is mounted with smooth, gentle curves.
With such mounting, conduit also allows better access to other
control components than if the mounting were rigid.
Observations of cable conduit indicate that it is suitable for
running stage two cable through stage one and medial stages (and
medial through stage one) without stage two cable (or medial)
being adversely impacted by stage one motion.19
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Ramsower, D.C. Test results for robotic manipulator EMMA, report, July 30, 1996; Richland, Washington. (https://digital.library.unt.edu/ark:/67531/metadc710319/m1/21/: accessed May 6, 2024), University of North Texas Libraries, UNT Digital Library, https://digital.library.unt.edu; crediting UNT Libraries Government Documents Department.