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MF3
Blocher-Motor GmbH & Co. KG, Metzingen, West Germany CMS Technologies, Inc., Ft. Lee, N.J., U.S. Distributor
This device is a remotely controlled, tethered 4-tracked vehicle which is used in the nuclear industry and other hazardous environments. It was initially conceived and developed at the KFA Julich Research Laboratory in West Germany. Its single, light-duty, electric-powered manipulator arm can lift up to 20 kg (44 lb); the heavy-duty arm can lift up to 80 kg (176 lb). Both arms have 6 axes of movement and possess infinitely rotating long openings. Optional 7-axes electric lightweight master-slave arms (single or dual) which can perform extremely delicate operations by means of power feedback can carry 12 kg (26 lb) In a sustained operation or up to 24 kg (53 lb) in a temporary capacity. The MF3 is remote controlled from a portable control desk located up to 100 m (328 ft) from the 408-kg (900 lb) device. The MF3 dimensions are: 2264 x 720 x 400mm (1 x w x h) (89.1 x 28.3 x 15.7 in.); with track adjustment, the length and height are, respectively, 940 and 1080 mm (37.0 and 42.5 in.). It can climb stairs with a gradient of up to 45 degrees, turn on a 1200 mm (47.2 in.) radius, and can surmount 600 mm (23.6 in.) high obstacles, and traverse 1 m (3 ft) wide chasms (gaps). Its maximum speed is 30 m/min (99 ft/min), optional accessories are video cameras, TV monitor at the control desk, headlights, noise transmission system, X-ray unit with mounting arm, and alternate grippers. Power (220V, 50 Hz) and communications are made through an umbilical cord (cable). On-board electrical tools are powered through on-board sockets. An alternate model can operate with four on-board 12V batteries.

A mobile base with optional manipulator arms. The EMSM 2 arms by the same developers are shown above.

Above and below – Current MF3 offerings by KHG.

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1970-2 – "Virgule" Remote-Controlled Manipulator.

Virgule being demonstrated at an exhibition.

See 1:14 and 4:16 into video clip.

The MA22 arm (slave unit shown) was very innovative at the time. The motors counterbalance the rest of the arm. It was replaced in 1975 by the MA23 which is still highly successful today.

The Virgule was an interesting machine. It had (1) four self-contained propulation and steering wheels with special tread-pattern for stair-climbing. (2) Extended front wheel (both extend to give stability). (3) Retractable from wheel (both retract to allow passage through a narrow door). The MA-22 manipulator arms (5) use a cable and ribbon design. There is feedback between the master and slave.

New MA 23 master-slave manipulators with servo control and force feedback. Their application in routine work and in scheduled and exceptional operations. The MA 22 system, based on the Virgule device, led to the development of a new technology which combines high reliability with excellent performance, very small electronics and high-torque d.c. motors. The second generation, MA 23, is characterized by a substantially improved mechanism, enabling maximum advantage to be derived from the servo control and making it possible to reproduce, at unlimited distance and with very high slave strength, the dexterity displaced by light master-slave manipulators on the operator side. The authors describe the equipment and indicate the various possibilites for its use in facilities. Long-term development and testing is also being directed towards under-water operation and industrial automatic manipulation. (Source)

 Jean Vertut (1929-1985)

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Looking like a military gravedigger or an agricultural battle tank, the KHG Remote-Controlled Manipulator Vehicle was an early West German response to the problems of maintenance and repair in nuclear installations.

The Robot That'll Do Anything

A new remote controlled robot has been developed in Germany able to do most any job or cope with any situation. It is called the KGH remote controlled Manipulator Vehicle and has a very impressive array of tools and instruments at its disposal. As well as being equipped with TV cameras and various cutting, drilling, welding, and sawing devices the robot can also collect specimens and measure things. It appraises damage, carries out salvage operations and also mounts and secures things. It can operate in radioactive contaminated areas or areas of high infection, then transmit its findings by means of TV transmitter. In short this all purpose robot, operated remotely or by hand in the control cockpit, is capable of most things and could be of great use in disasters or tasks where danger is high for human beings.

In this image, the vehicle is called the MF2 made by KFK in Germany [?].

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1963 – "MRMU" Mobile Remote Manipulating¹ Unit – FMC Corp.

MOBILE REMOTE MANIPULATOR¹ UNIT

It is recommended that the Mobile Remote Manipulator Unit (MRMU) be selected for study in Phase I as the basic recovery system. This unit, as developed by the FMC Corporation for the Research and Technology Division, Air Force Weapons Laboratory, New Mexico, has been thoroughly tested and evaluated, and can be made operational. Coupled with additional specialized tools, devices, and casks, the MRMU can perform the major portion of the recovery tasks that can be described at present.
The main design feature of this system is that the basic manipulator and its carrier can be standing by close to the launch pad while the emergency system operators are located in a central van somewhere close to the LCC. The system was conceived to provide a safe environment in which the operators can perform the necessary control and operation tasks in order to conduct recovery and salvage operations involving a hazardous environment. The prime design requirement for this system is the removal of a radioactive source from the wreckage resulting from a major conflagration. The performance of such tasks requires rugged manipulators, a means of transporting the manipulators, a remote viewing system, and an operator's remote control system.
The MRMU manipulators can be extended to a radius of 19 ft from the shoulder. This permits the hand to work 25 ft above or 8 ft below ground level. Maximum capacity is 600 lb in any direction. The jaw can grip a 5-in. object with a force of 2,500 lb.
The mechanics of the manipulator permits changes in radius, elevation, and azimuth and allows pitching, yawing, and rotation of the hand about the wrist. Shoulder, elbow, and wrist joints are mechanically programmed so that a change in radius is a primary motion rather than the result of individual joint movements.
A joystick is used to control each manipulator. When the operator moves the joystick, the manipulator hand moves correspondingly. Displacement of the joystick from its neutral position generates velocity commands. The available range of velocities is sufficient to satisfy operational requirements. Thumb-operated push buttons control the hand extension and the jaw.
Vehicle control is performed by another joystick. Motion of the joystick away from the operator controls vehicle speed; motion toward the operator controls the brakes; and motion to the right or left steers the vehicle. Push buttons operate the transmission, lights, etc.
The MRMU carrier, an XM474E2 type previously developed as a carrier for the Pershing Missile System, is used for transporting the MRMU manipulator arms. The vehicle is capable of fording streams, of extended cross-country travel over rough terrain, and of high-speed travel over improved roads and highways. The nature of the vehicle's carrying space allows it to be adapted to a variety of transportation requirements. It is a member of the airborne multipurpose vehicle family developed by the FMC Corporation.
Principal suspension and power-train components are identical to those of the M113 armored personnel carrier (the basic vehicle in the airborne multipurpose vehicle family). The normal XM474E2 control system was modified for remote operation in its use in the MRMU system.

TELEVISION SYSTEM

As the MRMU is operated remotely, a four-channel television system provides the operator with the information needed to control the MRMU. Four cameras are mounted on a pan/tilt platform which is attached to a boom that can be elevated and rotated.
Two cameras are used to produce a three-dimensional view of the forward field of vision. The two pictures are merged at the control console to provide the operator with depth perception. The remaining cameras provide a view of the peripheral field.

Note:  Different references have different spellings, either "Manipulator" or "Manipulating". Which is correct?

Mobile Remote Manipulator Unit (MRMU), built for the U.S. Air Force, consists of a remotely controlled tracked vehicle on which are mounted two manipulator arms. The remote control station is a van which may be located up to a mile away. The vehicle permits an operator in a safe environment to accomplish recovery and salvage operations in a hazardous environment. Control signals are multiplexed and transmitted over an FM modulated microwave link. Feedback and visual, through the use of four TV cameras arranged to give a three-dimensional display to the operator for depth perception. The TV signals are transmitted from the manipulator to the control van via an FM modulated microwave link. See Fig 16-13 above.

Electrical actuators (motors, solenoids, linear actuators) up to 1 hp are controlled by the MRMU servo system. Those actuators associated with the manipulators are the final power elements, with those associated with vehicle control are pilot devices for the mechanical traction and steering systems.

In 1994, Popular Mechanics (February issue) published an article of a study into a similar concept to the MRMU, again by FMC Corp. and NASA Ames research Center.

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