Electric power supply device for mobile vehicular apparatus with aerial cabin having force-feedback manipulator

Claim 1

An electric power supply device on a mobile vehicular apparatus having a force-feedback manipulator device which includes a slave manipulator arm for working on a workpiece, a master control arm for controlling the slave manipulator arm to work on the workpiece, and a DC electric actuator mounted on the master control arm, for applying an amount of mechanical energy corresponding to a load on the slave manipulator arm, to the master control arm, said electric power supply device supplying electric energy to the DC electric actuator, said electric power supply device comprising: an AC generator; a rectifier connected to said AC generator, for rectifying an electric current generated by said AC generator; a regulator connected to said rectifier, for maintaining the voltage with respect to the rectified electric current at a constant level, said regulator being connected to a power line for transmitting the electric current at the constant-level voltage to the DC electric actuator; and a battery connected to said power line, wherein said battery is adapted to assist said AC generator when said AC generator is incapable of supplying sufficient power at times when said manipulator device is under large loads.