How Much Weight Can Be Expected to be Handled with a Telemanipulator for a Worker; Limits and Possibilities of the Systems - 18638
Mechanical tele-manipulators reproduce the effects of the hand and arm movements of the worker by means of mechanical transmission elements, installed in a shielding or a containment wall. It shall be constructed in such a manner that the motions, forces and torques, executed by the hand of the worker on the handle of the cold arm, are transmitted respectively to the hot arm and the tongs. The tele-manipulator shall ensure force reflection from the hot arm to the cold arm. The cold arm and hot arm are arranged to have identical kinematics. Additional components are provided on the cold arm, in particular, counter-weights balancing the arms of the tele-manipulators and, where necessary, lockable brakes and/or the control elements for motorized relative motions or off-sets between the hot arm and the cold arm (i.e. indexing). Mechanical tele-manipulators shall be equipped with an electrical indexing of the Y-motion (forward-backward) and X-motion (right-left). For some tele-manipulators with telescopic arm it may also include an electrical extension of the Z-motion (up and down), consisting of a double telescopic arm. The latter is called extended reach. The indexing and extended reach allow the range of action of the hot arm to be increased, while keeping the cold arm in a good ergonomic position.[1] Consequently and in other words the workers are feeling exactly 1:1 the weight of the object handled on the hot arm. Additionally to the forces applied on the mechanical components, it also should be considered the physically effort of the worker to handle objects. How much weight can a worker handle on a short time period and how much weight during whole shift? To answer this question, a description of the mechanical tele-manipulators and the available feature should be made to get a general idea of what is already done to make the work of the workers easier. Interviews of workers will bring their point of view on the situation today. At the end it will be described what kind of solutions are already available to make the work easier and increase the work capacity. (authors)