A modular dexterous robot for glove box applications

Abstract

Many industrial processes today require the use of {open_quotes}glove boxes{close_quotes} {emdash} environmentally sealed chambers designed to allow access by human workers through ports fitted with protective gloves. A new technology for the automation of complex material-handling functions is described in this paper. The advantages of an agile robotic manipulator system being used in this application are discussed, including reduced life-cycle cost of automation, enhanced ability to respond to changes in process requirements, and improved reliability and maintainability. This paper also reviews lessons learned in applying an highly dexterous modular robot to a glove box environment, such as the evaluation of arm kinematics to achieve the required work envelope, system payload capacity, methods for automated tooling changes, tolerance of the arm mechanism and electronics to exposure to industrial chemicals and an argon atmosphere, the benefits of arm modularity for system maintenance, safety concerns, the integration of high-level control technology and off-line development of process motion sequences.