The Integration of an Electro-hydraulic Manipulator Arm into a Self-contained Mobile Delivery System

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The Portable Articulated Arm Deployment System (PAADS) is a remotely controlled vehicle for delivering a tele-operated electro-hydraulic manipulator arm to a field deployable location. The self-contained system includes a boom vehicle with long reach capability, an electro-hydraulic manipulator arm, closed circuit television (CCTV) systems, and onboard tools. On board power systems consist of a self contained, propane fired 8 KW generator and an air compressor for pneumatic tools. The generator provides the power to run the air compressor as well as provide power to operate the 110 VAC auxiliary lighting system for the video cameras. The separate control console can ... continued below

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Borland, Mark Wilson & Berry, Stephen Michael April 1, 1999.

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The Portable Articulated Arm Deployment System (PAADS) is a remotely controlled vehicle for delivering a tele-operated electro-hydraulic manipulator arm to a field deployable location. The self-contained system includes a boom vehicle with long reach capability, an electro-hydraulic manipulator arm, closed circuit television (CCTV) systems, and onboard tools. On board power systems consist of a self contained, propane fired 8 KW generator and an air compressor for pneumatic tools. The generator provides the power to run the air compressor as well as provide power to operate the 110 VAC auxiliary lighting system for the video cameras. The separate control console can be located up to 500 ft from the vehicle. PAADS is a fully integrated system, containing all equipment required to perform complex field operations. Hydraulic integration of the manipulator arm into the vehicle hydraulic drive system was necessary to eliminate the tether management of hoses, which extended vehicle operating range, minimized hydraulic pressure losses, and provided the opportunity to go to a radio frequency (RF) control system in the future, thereby eliminating the control cable. This paper presents the key decision points during system development. Emphasis is placed on ease of operator control and not on an intelligent machine approach. In addition, emphasis is placed on the philosophy of remote operation based on sound principles on integration.

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  • 8th International Topical Meeting on Robotics and Remote Systems,Pittsburgh, PA,04/25/1999,04/29/1999

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  • Report No.: INEEL/CON-99-00158
  • Grant Number: DE-AC07-99ID-13727
  • Office of Scientific & Technical Information Report Number: 911400
  • Archival Resource Key: ark:/67531/metadc887620

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  • April 1, 1999

Added to The UNT Digital Library

  • Sept. 22, 2016, 2:13 a.m.

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  • Nov. 29, 2016, 4:08 p.m.

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Borland, Mark Wilson & Berry, Stephen Michael. The Integration of an Electro-hydraulic Manipulator Arm into a Self-contained Mobile Delivery System, article, April 1, 1999; [Idaho Falls, Idaho]. (digital.library.unt.edu/ark:/67531/metadc887620/: accessed October 22, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.