Smart crane ammunition transfer system

The purpose of the Smart Crane Ammunition Transfer System (SCATS) project is to demonstrate robotic/telerobotic controls technology for a mobile articulated crane for missile/ munitions handling, delivery, and reload. Missile resupply and reload have been manually intensive operations up to this time. Currently, reload missiles are delivered by truck to the site of the launcher. A crew of four to five personnel reloads the missiles from the truck to the launcher using a hydraulic-powered crane. The missiles are handled carefully for the safety of the missiles and personnel. Numerous steps are required in the reload process and the entire reload operation can take over 1 h for some missile systems. Recent U.S. Army directives require the entire operation to be accomplished in a fraction of that time. Current requirements for the development of SCATS are being based primarily on reloading Patriot missiles. The planned development approach will integrate robotic control and sensor technology with a commercially available hydraulic articulated crane. SCATS is being developed with commercially available hardware as much as possible. Development plans include adding a 3-D.F. end effector with a grapple to the articulating crane; closed-loop position control for the crane and end effector; digital microprocessor control ofmore » crane functions; simplified operator interface; and operating modes which include rectilinear movement, obstacle avoidance, and partial automated operation. The planned development will include progressive technology demonstrations. Ultimate plans are for this technology to be transferred and utilized in the military fielding process.« less