Raptor is available with either
parallel acting, or four fingered intermeshing jaws.
Both jaw configurations can
grip ¾" diameter T-handles.
Click image to enlarge
Raptor's close-coupled wrist with
200 degrees of pitch and yaw
motion provides high dexterity
where its needed most. A high
efficiency piston motor delivers
"smooth" wrist roll torque,
even at fractional RPM.
Kraft's unique method of
controlling the gripper
allows the
operator to
proportionally vary the
rate of jaw closure,
and the amount of
grip force.
Raptor requires only one electrical
connection and a pressure & return
hydraulic connection. All valves are
packaged as an integral part of the
manipulator arm, eliminating the
cumbersome hydraulic lines that
would be necessary with a remote
valve package. A square, four-bolt
flange makes mounting the
arm simple.
Raptor manipulator arms are used in the
decommissioning of nuclear facilities
worldwide. Raptor, as
shown on the Red Zone
"MSRS" work platform,
is used in the
dismantling of
contaminated
equipment.
Meeting The Challenge
Raptor force feedback manipulator arms are used to
perform a wide variety of tasks in undersea and terrestrial
environments. In applications where dexterity and physical
strength are important Raptor delivers. When work must be
completed in a timely manner, and with little risk of damage
to the work site, the advantages provided by a high dexterity
force feedback manipulator are significant.
Innovation in Control Technology
KMC 770 Advanced Operating System
The KMC 770 control system offers many standard
features which enhance system performance and
ease of operation. These features include:
- One button indexing - the ability to offset master position relative to the manipulator for operator comfort.
- Power alignment - allows the operator to realign the master with the manipulator after indexing. When initiated, the master controller will move into alignment with the manipulator under its own power.
- Joint lock - used to selectively lock one or more axes of the manipulator so that motion at the master has no effect on the locked axis.
- Joint scaling - the ability to alter the ratio of master arm movement to manipulator arm movement. Scaling can be established for each joint individually.
- Joint limits - the ability to establish individual joint motion limits to prevent arm impact with peripheral equipment.
- Proportional control of grip force - greatly enhances manipulator performance and is far superior to conventional rate or position control.
- Auto stow/deploy - allows the operator to automatically stow or deploy the manipulator using a previously programmed routine.
- Robotic operation - provides the ability to teach the manipulator a routine or sequence and permanently save it for execution at a later time.
- System diagnostics - provides comprehensive tools for evaluating and troubleshooting the system.
As the vital link between the remote manipulator and the human operator, the Kraft force feedback mini-master® allows the operator to control complex manipulator motions in a comfortable and intuitive manner. Electric actuators on the individual joints of the master respond to the forces acting upon the manipulator arm, providing force feedback to the operator. Conveniently located switches on the master provide the operator with direct access to core manipulator functions for faster arm operation. The mini-master® is designed for comfortable left-hand or right-hand operation.
In its standard configuration the mini-master® is mounted to a compact, portable, operator control unit that can be placed on nearly any surface for operation. A color liquid crystal display allows the operator to view system information and menus. Pushbutton keys surrounding the display allow the operator to select various operating options.
US Air Force "ARTS" vehicle,
equipped with dual Raptor
force feedback manipulator
arms for the remote handling
of unexploded ordnance.
Operating Pressure
