CRL

SAMSIN® Servo Telemanipulator

SAMSIN Slave

SAMSIN® (Servo Actuated Manipulator System with Intelligent Networks) is a general purpose electric servo telemanipulator designed for work in remote, hazardous locations. The SAMSIN® operator works from a safe site to perform tasks in a hostile environment. He or she grasps and moves the handle to control the actions of the remote tong.

SAMSIN Master

Working from a remote location is difficult without sensory feedback. SAMSIN® provides a natural feel of the work being done directly to the hand. Natural movement and dexterity is possible with SAMSIN® because the remote hand moves just like your own. CCTV cameras provide visual feedback and a remote microphone or vibration pick-up provides auditory feedback.

A person using SAMSIN® can do the same repair or maintenance task as an individual "on site," using tools modified for remote handling. For example, three astronauts performed a satellite repair task during Shuttle Flight 41-C in approximately two hours. Following the same procedure, two manipulator operators and one camera operator completed the same task in three hours using SAMSIN®.

The 25 pound (110 N) capacity SAMSIN® position feedback control system, without sensory feedback, is suitable for tasks requiring little or no contact with the remote environment, such as "pick and place" or inspection.

However, a bilateral and force reflecting system (with sensory feedback) is essential for remote maintenance and repair tasks. These SAMSIN® systems are available in 25 pound (110 N) and 50 pound (220 N) capacities. The SAMSIN® telescoping arm geometry is suitable for installations having a direct path from the manipulator slave arm base to the work site location.

Features

  • Six degrees of freedom and grip
  • Rate, position or bilateral force-reflecting control system
  • Modular arm and motor package
  • Interchangeable servo actuators and control system components
  • Noise-resistant serial communications link up to 1000 feet (300 m)
  • Dedicated local servo system control modules
  • Hierarchical distributed microprocessor control architecture
  • RS-232, Multibus, or VME, or Q-bus or PC-bus host interface
  • Operator protection against electrical and system malfunction
  • Slave arm control function switches
  • Remotely removable tong jaws for alternate end-of-arm tooling
  • Independently balanced master and slave arms

Performance

  • Remote Handling Capacity -- 25 or 50 pounds (110 or 220 N)
  • Master Force Reflection Capacity -- 15 pounds (67 N)
  • No-Load Slewing Rate -- 40 inches/second (1 m/s)

Standard Environment

  • Ambient Temperature -- 0° to 50°C
  • Atmospheric Pressure -- 0.9 to 1.2 bar
  • Humidity -- 15% to 90%
  • Slave Radiation Hardening -- 5.0e4 Accumulated Dose
  • Slave Wet Decontamination -- Standard Procedures

Electrical Power Requirements

  • Master or Slave -- 120 VAC, 30A or 220 VAC, 15A, 50/60 Hz

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