| 摘要 |
A floor standing base supports a work holding manipulator table that is adapted to secure a vertical length of pipe for welding at a prepared juncture in the mounted pipe. The manipulator table is attached to the stand by a gimbal arrangement that allows it to tilt relative to a vertical axis a limited amount in all directions. Actuators also move the table a limited amount in all horizontal directions. The table movement actuators can be interlocked to produce a specific movement of the table and a table mounted workpiece. For certification work, requiring specific movement programs, recordings are provided to control the movement and movement relationships among the actuators. The recordings are, optionally, produced in the field by movement monitoring transducers attached to pipe being assembled in the actual representative environment. The record playback system controls all actuators and permits adjustment of the amplitude and rate of movement of the table for calibration and training purposes.
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