Model R Telemanipulator
The Model R Telemanipulator is a three-piece, sealed manipulator. It is indexable so the slave arm can be installed or removed from either inside or outside the cell. To achieve high reliability the slave arm was designed as a cable manipulator with chain drive in the wrist joints for both wrist motions and tong motion with a minimal sacrifice in friction and deflection characteristics. The seal tube design is similar to the Model L type of seal tube and uses oil lip seals for the seal elements.
The Model R is available in standard and light-duty (Model R-L) versions.
| Dimensions in inches | Typical | Formula | |
|---|---|---|---|
| A | Removal Clearance (entire manip.) | 156.70 | C + E + 14 |
| B | Removal Clearance (w/o master) | 129.40 | E + I + J + 14 |
| C | Centerline Distance | 84.84 | I + J + K |
| D | Master Collapsed Length (54 min.) | 57.85 | * |
| E | Slave Collapsed Length (54 min.) | 57.85 | 1.25(Z) + 10.4 |
| G | Master Overhead (19.5 min.) | 19.50 | |
| H | Slave Extended Length | 95.84 | {SQRT[R^2 + (L+0.75)^2]} - 7.5 |
| I | Slave Overhang (13 min.) | 18.11 | |
| J | Wall Tube Length (11 min.) | 39.37 | |
| K | Master Overhang (27.36 min.) | 27.36 | |
| L | Operating Height | 80.70 | |
| M | Mounting Height | 120.00 | |
| R | Tong Tip Radius at L | 63.60 | |
| S | Separation (28 min.) | 28.00 | |
| Z | "Z" Motion | 38.00 | 0.444(H) - 4.6 |
If H < 72.0 or Z < 27.4, the following formulas apply:
| Dimensions in inches | Formula | |
|---|---|---|
| D | Master Collapsed Length | Z + 15.0 |
| E | Slave Collapsed Length | Z + 17.2 |
| Z | "Z" Motion | 0.5(H) - 8.6 |
* D is usually equal to E but can be larger or smaller than E for operator comfort. The formula for D gives the minimum dimension for a specific Z motion dimension.
Allow space for manipulator accessories.
Manipulator sizing guidelines
For technical specifications and an interpretive guide, E-mail sales@centres.com or call (651) 385-2142.