Model G-HD Telemanipulator
The Model G-HD Telemanipulator is available in a standard version and also with variable ratio between the slave and master motions in X, Y, and/or Z of 3:2 or 4:3. This feature is typically used where it is necessary to restrict the movement of the master end while retaining a required slave movement.
| Dimensions in inches | Typical | Formula | |
|---|---|---|---|
| A | Removal Clearance | 88.25 | B + G + 8.5 |
| B | Centerline Distance | 51.00 | C + D + W |
| C | Slave Overhang (6.50 min.) | 15.00 | |
| D | Master Overhang (18 min.) | 18.00 | |
| E | Minimum Height Clearance | 19.50 | 1.2(Z) + 12.25 - F |
| F | Master Collapsed Length | 28.75 | * |
| G | Slave Collapsed Length | 28.75 | 0.7(Z) + 7.75 |
| H | Slave Extended Length | 58.75 | {SQRT[(R*R) + (L*L)]} - 6 |
| I | Minimum Cell Depth | 25.75 | G - 3 |
| L | Operating Height | 56.00 | |
| M | Mounting Height | 96.00 | |
| R | Tong Tip Radius at L | 32.50 | |
| S | Separation (28 min.) | 28.00 | |
| W | Wall Thickness | 18.00 | |
| Z | "Z" Motion | 30.00 | 0.588(H) - 4.54 |
If H <46.85 or Z < 23, the following formulas apply:
| Dimensions in inches | Formula | |
|---|---|---|
| E | Minimum Height Clearance | Z + 16.85 - F |
| G | Slave Collapsed Length | 0.5(Z) + 12.35 |
| Z | "Z" Motion (21 min.) | 0.666(H) - 8.23 |
For a Model G-HD with variable Z motion, the following changes apply:
| Dimensions in inches | Formula or Change | |
|---|---|---|
| Zs | Slave "Z" Motion | Same as Z above |
| rz | "Z" Motion Slave-to-Master Ratio | 1.306 (For 4:3) 1.495 (For 3:2) |
| Zm | Master "Z" Motion | Zs/rz |
| G | Slave Collapsed Length | Use Zs in place of Z |
| E | Minimum Height Clearance | Use Zm in place of Z Add 1.62 inches |
* F is usually equal to G but can be larger or smaller than G for operator comfort (min.
F = 18")
Note: Allow space for manipulator accessories.
Manipulator sizing guidelines
AutoCAD R14 file (mod-ghd.dwg)
For technical specifications and an interpretive guide, E-mail sales@centres.com or call (651) 385-2142.