perm filename PRONRL.V[1,VDS] blob sn#207064
filedate 1975-06-02 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00004 PAGES
C REC PAGE DESCRIPTION
C00002 00002 DETAILED SPECIFICATIONS
C00014 00003 PERTINENT REFERENCE MATERIALS
C00016 00004 WARRANTY
To meet the specifications of item no. 0001AA of solicitation
No.N00173-75-R-I101, VICARM proposes to deliver a standard version of
our model "M.I.T." six degree of freedom computer controlled
manipulator. A specification sheet for this standard manipulator is
enclosed as Attachment 1.
To meet the specifications of item no. 0001AB of the same
solicitation, VICARM proposes to deliver its planned standard logic
unit for the model M.I.T. manipulator. A block diagram of this unit
is submitted as Attachment 2.
Section one (1) which follows details the general properties of our
model M.I.T. manipulator. Section two (2) details our M.I.T. arm
logic unit and its components.
Section 1 M.I.T. Manipulator
The Model M.I.T. manipulator is an all electric motor
powered mechanical arm type of manipulator designed specificallly for
computer controlled applications. This device is characterized by 6
independent revolute joints all powered by individual electric torque
motors with potentiometer position feedback elements on all joints.
Tachometer feedback is provided on five of the six joints. The
maximum load capacity is 1.4 kg, and the manipulator accuracy is 3
mm. when using pre-planned motions with potentiometer interpolation
tables. Resolution and repeatability is 1.5 mm when operating the
manipulator in a "lead through to teach" mode. The manipulator comes
equipped with our standard parallel jaw type hand which has a maximum
opening of 5 cm. This hand is easily removable should other hands be
desired at a future date. Extra instrumentation wires are provided
at the hand for accessories or experimental terminal device
instrumentation. No other hand instrumentation is supplied.
The standard Model M.I.T. arm comes equipped with a power
supply and power amplifiers for each joint (a total of seven
amplifiers- one for each joint plus the hand). A manual control box
is also supplied which allows for remote manual control of individual
joints, plus selection of manual or computer mode. An emergency stop
button is also located on this separate hand held control unit. The
power-control unit is supplied with a connector to enable computer
interfacing. This unit operates on 115vac.-3 amps.
Section 2 M.I.T. Manipulator Logic Unit
The Model M.I.T. Electric Arm Logic Unit consists of a complete
stand alone computer and computer interface system. The basic
components of this logic unit are the microprocessor, the memory, the
input/output interfaces, the data conversion unit, the hardware servo
and the software. All are included in the logic unit.
The microprocessor is a Digital Equipment Corporation model
LSI-11 processor with the extended instruction set and floating point
instruction set options. This processor is mounted in its own case
with a separate power supply. Provision for power failure is
provided by a standby battery supply. The processor board has 4k of
16 bit MOS memory on it. An additional 8k of MOS memory is included
to give a total of 12k of memory. This is sufficient to allow basic
trajectories to be stored and executed. Provision for up to 32k of
memory has been made.
To allow this system to be operated in conjunction with
either a local PDP-11 series computer or a remote PDP-10 type
computer, a serial data interface is provided. The customer can
either hook up his own modem to a remote computer, or else go
directly to a similar type serial interface on a resident PDP-11
series computer. By this means, communication with other computers
at rates of up to 9600 baud is possible. A second serial data
interface is provided to allow the customer to attach his own data
terminal. As these serial data interfaces are EIA- RS232C
compatible, any of a large variety of terminals may be used. This
terminal may be used for inputting data to the microprocessor
directly, or for data input to a remote computer, or for control of
the arm, etc. The multi-function capability is provided by software
in the microprocessor.
The manipulator is interfaced to the microprocessor through a
parallel data interface. This parallel data interface is connected
directly to the computer buss on one side and the data conversion
unit on the the other side. The parallel data interface provides for
16 bit words of data input to and output from the arm unit.
The data conversion unit consists of eight 12 bit digital to
analog converters (DACs) for outputting position, current or velocity
commands to the arm. Seven DACs are used for the arm joints and the
hand. One DAC is a spare, for accessory drive, etc. Eight brake bit
signals are provided for control of the 5 arm brakes plus 3
accessory bits. The arm position and velocity information is read
into the computer through a 32 channel 12 bit A/D. The 32 channels
are individually selectable on a random basis. Provision for
auto-increment mode of reading the A/D is also provided. The 32
channels provide for up to 18 extra channels of data. These channels
are intended to be used with accessory force balances or touch
sensors, etc. The data conversion unit also has arm protection logic
in the case of computer failure.
The arm is servoed by the hardware servo system. This unit
takes the data from the DACs and servos the arm to the commanded
joint positions. The hardware servo system consists of 7 separate
servo systems featuring position and velocity feedback, with
integration to minimize steady state error. Some extra logic is
provided in this unit to keep track of the manipulator status. Motor
overtemperature conditions are sensed and compensated for, excessive
terminal error is noted and indicated to the computer, etc. This
status information is fed back to the processor as part of the
manipulator control plan.
In addition to all of the above, some software is provided as
part of the Logic Unit. The software is entirely resident in the
microprocessor and its memory. It includes a simple editor for
setting up and modifiying arm motions. The arm can be programmed in
either teach mode (in which the arm is led through a task and points
are recorded), or through planned program mode( in which points are
calculated in advance and entered through a data terminal or from
another computer). Coordinate transforms are provided by the
software allowing data entry in cartesian coordinate form. A simple
straight line motion program is also included for moving the arm
terminal device along straight lines. Software is also provided for
startup and shutdown of the manipulator, and for allowing the data
terminal (terminal not provided) to be used to communicate with
separate computers or other devices connected to the logic unit by
the first serial data unit mentioned above. No software is provided
for the actual communication with other computers.
PERTINeNT REFERENCE MATERIALS
As part of this proposal, VICARM proposes to supply
sufficient installation and operating information so that on site
implementation of the manipulator system can be accomplished by the
customer. Maintainance information and detailed manipulator and
system drawings will be provided to enable most routine maintainance
and repairs to be accomplished by the customer on site.
A parts list giving reference numbers for all assemblies and
components (if available separately) will be sent with each of the
separate items. As the manipulator system is manufactured of
interchangeable parts, replacement parts are available from VICARM.
Customer will be placed on VICARM's mailing list and will be
sent data on announced furthur developments and improvements by
VICARM and by other customers of VICARM. VICARM will supply customer
with names and addresses of other customers who are using the M.I.T.
Manipulator system so that free exchange of information may be of
VICARM will provide a 30 day warranty on all items delivered,
provided they are returned to VICARM for repair or replacement. This
warranty covers all normal use of the manipulator system. As it is
impossible to protect the manipulator from every possible source of
failure, the warranty is limited to failures due to
design,construction or occurring during normal operation.
As Items 0001AA and 0001AB will be delivered at two separate
dates, VICARM will extend warranty coverage of item 0001AA for a
period of 30 days after delivery of item 0001AB provided item 0001AA
is returned to VICARM for inspection and checkout just prior to
delivery of item 0001AB. Any repairs required at this time, and not
falling under any warranty, will be chargable at cost.