CURV Linkage Manipulator

摘要

A spot-mounted, variable, rate-controlled hydraulic manipulator was developed for the cable-controlled undersea research vehicles, CURV 2 and CURV 3. This manipulator incorporates a mechanical linkage arm which provides linear hand extension and eliminates disorienting cross-coupling of functions. The wrist is extremely compact, and is designed to further minimize cross-coupling. The hand is a synchronized, paralled jaw linkage. This combination of mechanical features is desirable from the standpoint of human factors. Control signals are encoded in binary, and are sent to a pressure-balanced, hydraulic-flow control package. This unit decodes the signals, and energizes hydraulic valves which control the magnitude and direction of flow to the appropriate actuators. The overall system is well adapted for operation in the corrosive and high-pressure undersea environment. (Author)