Western Space and Marine, manufacturers of remotely operated systems including the MAN-MATE line of industrial manipulators, announces the development of a new master control and electronics which are compatible with Models 1400, 1600, 1800 and 2000.

This new system, with a "Teach and Repeat" option, is very much like a modern aircraft's "Fly by Wire" system with fully adjustable force reflection, enables users to set control forces for optimum comfort and performance. The system provides an electronic counterbalance so that the operator does not feel the weight of the machine but only feels a small portion of the payload at the master control grip. This active force feedback package provides superior positioning and load control over conventional "Joystick" controllers which often require two hands to operate a six axis system. The new system is standard on all new MAN-MATE manipulators and retrofit kits are available for all older systems and all models of ANDRO-MAT which have hydraulic master controls.

SYSTEM DESCRIPTION

For nearly twenty five years MAN-MATE manipulator systems have been providing unique service in material handling applications. These systems employ replica master controls with force feedback providing precise control which is unavailable in conventional systems. The original master control provides linkages and an ergonomic control grip to achieve replica kinematic motion between the master and slave.

Force reflection is accomplished through the application of miniature hydraulic actuators connected in parallel with the much larger slave actuators. The master actuators are connected to the master control linkages and develop forces that are directly proportional to those required to produce force and motion at the working slave. It is not desirable to reflect to the operator the "tare" weight or pressure that is necessary to support the weight of the slave booms. Optimally, the operator should only experience the load and system inertial forces.

MAN-MATE deals with the tare forces by counter balancing mechanically with a system of linkages and large springs in the master which are tensioned to balance out the undesirable forces. The amount of force reflection is strictly controlled by the ratio of the size of the master feedback actuators with respect to the slave actuators and the system operating pressure. In the original system the level of force reflection is not adjustable.

Some applications require that the master and the operator be located remote from the slave for safety reasons. The current hydraulic masters are limited to about 20 feet (7m) because of control system stability limitations related to long hydraulic line length. This also leads to hose handling responsibilities and increased maintenance for such systems.

WSM has recognized that although the existing systems have provided outstanding service in harsh, hazardous environments such as forge shops and foundries for many years, new technology provides superior performance and eliminates most of the mechanical nuisances which have created maintenance problems and production down-time.

The redesigned Master and Electronics for the MAN-MATE have many important features:

- ELECTRIC MOTORS PROVIDE FORCE REFLECTION
- FORCE REFLECTION IS COMPLETELY ADJUSTABLE
- COUNTERBALANCE IS ELECTRONICALLY ADJUSTABLE
- OPERATOR/MASTER REACH IS IMPROVED FOR COMFORT
- MASTER SYNCHRONIZES WITH SLAVE AT STARTUP
- MASTER MAY BE INSTALLED ANYWHERE
- "TEACH AND REPEAT" OPTION PROVIDES AUTOMATION
- MAINTENANCE IS GREATLY REDUCED
- SYSTEM IS COMPATIBLE WITH ALL MODELS

TECHNICAL FEATURES AND SERVICE

The new master control has been designed to provide many years of reliable operation with the operator and technician in mind. The master can be quickly removed and interchanged for convenient bench service. Each or the three servo motors are identical and replacement is accomplished through the application of rugged quick couplings and all pivots and shafts incorporate sealed bearings.

The electronics boards for each motion are identical and interchangeable once set for a particular motion by using tabular information provided with system documentation.

With the new feature of fully adjustable force reflection, we have incorporated an additional feature which provides a switch for each joint to select NORMAL, MEDIUM, or LOW levels to suit the preferences of each operating situation.

Counterbalancing is accomplished electronically with an adjustment on each electronics card. This feature greatly simplifies the process and allows very fine tuning to produce precision results. Once set, the shoulder and elbow joints may be placed anywhere in their range without drift or heaviness. The balance of the azimuth motion is also set electronically so that it has no tendency to drift left or right.

Other adjustments permit the control of system stability, speed and system offsets. The range of master motion may be scaled to suit unique situations. Indexing is available as an option for remote master installations.

To maintain commonality with existing systems the standard plug-in control grip has been retained with an additional feature of providing an adjustment to set grip angle for maximum operator comport.

SYSTEM ADVANTAGES

- IMPROVED PERFORMANCE
- EASY MAINTENANCE
- REDUCED DOWNTIME
- ADJUSTABLE FORCE FEEDBACK
- REMOTE MASTER - CAN BE LOCATED ANYWHERE
- ELECTRONICS LOCATED IN CAB
- ENHANCED OPERATOR COMFORT
- ELIMINATION OF MORE THAT HALF OF MAN-MATE SERVICE POINTS
- REDUCTION OF HYDRAULIC COMPONENTS AND SERVICE ITEMS

RETROFIT KIT

Retrofit kits are available for MAN-MATE and ANDRO-MAT systems. These kits include all of the components necessary to convert the original master controls to the new configuration. Major components are:

- NEW MASTER CONTROL
- MOUNTING STANCHION FOR MASTER
- TRANSDUCERS FOR AZIMUTH MOTION
- INTERCONNECTION CABLES AND CONNECTORS
- ELECTRONICS AND POWER SUPPLIES IN INDUSTRIAL ENCLOSURE
- SPARE ELECTRONICS CARD
- HYDRAULIC FITTINGS TO CAP OLD SYSTEM AT MANIFOLD
- INSTRUCTIONS AND SYSTEM DOCUMENTATION
Note: Minor fasteners, electrical conduit and fittings are not supplied.

Installation tech support and training is available on request.

OPTIONS

WSM's "TEACH and REPEAT" system for use with DDP (DIGITAL DATA PROCESSOR) enables process automation and remote data links.

ERIE EQUALIZER UPGRADE

The new Electric Master has been successfully installed into an Erie Equalizer industrial manipulator to improve performance and stability above and beyond what was possible with Erie's original controller. The flexibility and simplicity of the WSM Electric Master control allow it to be fitted into almost any manipulator system.