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题名: Design and Experiments of a Deep-sea Hydraulic Manipulator System
作者: Zhang QF(张奇峰); Chen J(陈俊); Huo LQ(霍良青); Sun B(孙斌); Zhao Y(赵洋)
作者部门: 水下机器人研究室
会议名称: OCEANS 2013 MTS/IEEE
会议日期: September 23-26, 2013
会议地点: San Diego. USA
会议录: OCEANS 2013 MTS/IEEE
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2013
页码: 1-5
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-0-933957-40-4
摘要: Deep-sea master-slave hydraulic manipulator is among most commonly tools equipped on remotely-operated vehicles or human occupied vehicles. The design and realization of a 7-function master-slave hydraulic manipulator can be used in 7000 meters depth is proposed, and the design and control experiments of the salve arm are described in detail. Linear actuator, rotary actuator and cycloid motor are the three basic modules of the slave arm. The rotary actuator is the most difficult module to realize, a double-screw-pair swing rotary actuator is designed in this paper, which realized rotary driving, multi-path oil and electric cable passing through and rotary angle measuring. To achieve smooth control result, PI control algorithm with variable gains is applied on the control of the slave arm. Running experiments show the reliability of the manipulator system. The control algorithm is also certified effective in alleviating the movement delay and overshoot jitter of slave-arm.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13853
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Zhang QF,Chen J,Huo LQ,et al. Design and Experiments of a Deep-sea Hydraulic Manipulator System[C]. 见:OCEANS 2013 MTS/IEEE. San Diego. USA. September 23-26, 2013.
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文件名: Design and Experiments of a Deep-sea Hydraulic Manipulator System.pdf
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