Specifications

MrLsTD-1472E
5.10 Desitznof eaui
mnent for remote handling.
5.10.1 Chamcteristics of cx.mitxrwntto be handled remotely.
5,10.1.1 Aiiunme
nt. Self-alignmentdevices shalJbe providedfor componentswhichmust be
joined remotely.
5,10.1.2 Disconnect. Quickdisconnect devices shall be provided for items that must be
discomected remotely.
5.10,1.3 Fasteners. Fasteners shall be captive md readily repkweddc by remote-handling
techniques.
5.10.1.4. Lock and hchin~ mechanisms. Each iock or latching mxhanism shall be operable
from a single poin~ have a positive catch, and provide a clear visual indication of the latch position.
5.10.2 Feedback Feedback shall be provided firm remote work areas to the oprator of tbe
remote-handling systcm. Visual information shall be regarded as most critical, followed in order, by
kinesthetic, tactual, and auditmy feedback.
5.10.3 Manimdators.
5.10.3.1 Safew. Power manipulators shall be provided with positive stops to prevent accidents.
5.10.3.2 Uum@mWX
. .
For tasks rquiring manipulative dextmity and load capacities of less
than 10 kg (22 lb), rnanipulatois with the following chamcteristics should be provided
a. Position control (i.e., ~o-order control in which the operator’s control output dimctiy
determines the machine output).
b. Mutual force reflection between control and cffector.
c. Seven degrees of ikedom in motion and forcz control (i.e., three for translation, three for
rotation, and OU for gripping).
5.10.3.3 Power assist. For tasks involving gross positioning of loads heavier than 10 kg (22
lb), electrically or
hydraulicallypowered manipulatorswithrate controlshouldbe provided(i.e., the
operator’scontrol output Shoulddirectlydeterminethe rate of changeof the machineoutput).
5.10.4 Viewinftal
uitxnent.
5.10.4.1 Gem@. A viewing system shall be proviti which gives the operator of a remote
manipulator adequate mformadon
with respct to the the spatial coordimtes of the workspace (i.e.,
X, Y, and Z).
5.10.4.2 Direct
Vi8Wk&
When permiued by shieldingrequirements,provisionshall be made
for the operator to view the work directly through
shielding windows.
5.10,4.3 WewknEart@e
hlo’ldertu avo!ddmortmn
, Tqummem for d&lu4 View* d
cbjccts near tic ~’icwingwinckv or at lirw-nf-sight nngles grertter than 60° should he avoided.
~ 104 .$ Indire(t \iewing Indirccl viruing systems {c g,. chmed circuif tetevi$ion s~wem~
pwiwxym,
and nkrcwopu) tihall be provided to supplement direct viewing, where required by
spcci1ic rcrnolc- handiing situations.