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7000M Pressure Experiment of a Deep-sea Hydraulic Manipulator System
Zhang QF(张奇峰); Chen J(陈俊); Huo LQ(霍良青); Kong FD(孔范东); Du LS(杜林森); Cui SG(崔胜国); Zhao Y(赵洋); Tang YG(唐元贵)
作者部门水下机器人研究室
会议名称OCEANS'14 MTS/IEEE St. John's
会议日期September 14-19, 2014
会议地点St. John's, Canada
会议录名称OCEANS'14 MTS/IEEE St. John's
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1-5
收录类别EI ; CPCI(ISTP)
EI收录号20150500475596
WOS记录号WOS:000369848800024
产权排序1
ISBN号978-1-4799-4918-2
关键词Deep-sea Hydraulic Manipulator Design And Experiments Double-screw-pair Swing Rotary 7000m Pressure Experiment
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. Linear actuator, rotary actuator and cycloid motor are the three basic modules of the slave arm. A double-screw-pair swing rotary actuator is designed as the rotary actuator, which realized rotary driving, multi-path oil and electric cable passing through and rotary angle measuring. Based on the reliable running experiments on land, a pressure experiment system to test the manipulator’s index of 7000m depth is proposed. In the experiment system, the master controller with the whole system’s power supply and experiment monitor are placed outside of the pressure cabin. And the slave arm, slave controller, hydraulic system, underwater light and cameras are inside the cabin. The pressure experimenting process is described in detail. Also, during the exciting experiment, some objective things were also present, such as the rotary actuator rotating slow even stop rotating in high pressure environment. Complementary experiments aiming at problem arose in the whole system testing had to be done lately. The whole system’s and complementary experiment show that the manipulator satisfy 7000m design depth index.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15305
专题水下机器人研究室
通讯作者Zhang QF(张奇峰)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
2.Shenyang Institute of Automation, CAS, Shenyang, China
3.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Zhang QF,Chen J,Huo LQ,et al. 7000M Pressure Experiment of a Deep-sea Hydraulic Manipulator System[C]. Piscataway, NJ, USA:IEEE,2014:1-5.
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