Model H Telemanipulator
The Model H Telemanipulator uses articulated joints to achieve Z motion and can be installed in very limited space. A strict 1-to-1 ratio of master to slave motions is not maintained over the entire range. Electrical X motion indexing is used to extend coverage.
| Dimensions in inches | Typical | Formula | |
|---|---|---|---|
| A | Slave Forearm Length | 26.50 | 1.7(B) |
| B | Slave Upper Arm Length | 15.50 | 11.40 min. |
| A + B | Slave Extended Length | 42.00 | SQRT[(R1^2 + (M - L)^2] - 6 |
| C | Pivot Distance (24 min.) | 28.00 | H + J + K |
| D | Master Upper Arm Length | 15.50 | 12.60 min. |
| E | Master Forearm Length | 26.50 | |
| F | Slave Headroom | 15.50 | |
| G | Master Headroom | 15.50 | |
| H | Slave Overhang | 8.00 | 4.00 min. |
| J | Wall Thickness | 10.00 | |
| K | Master Overhang | 10.00 | 10.00 min. |
| L | Table Height | 40.00 | |
| M | Mounting Height | 76.00 | |
| N | Separation | 28.00 | |
| O | R2 Location | 16.50 | 0.5(A + 6) |
| P | R1 Location | 24.00 | 0.5(A + B + 6) |
| R1 | Tong Tip Radius 1 | 32.00 | |
| R2 | Tong Tip Radius 2 | 22.00 | O*R1/P |
| S | Removal Clearance | 87.50 | A + B + C + D + 2 |
For operator comfort, the master arm dimensions need not be equal to the slave.
Manipulator sizing guidelines
AutoCAD R14 file (mod-h.dwg)
For technical specifications and an interpretive guide, E-mail sales@centres.com or call (651) 385-2142.