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Design and pressure experiments of a deep-sea hydraulic manipulator system
Zhang QF(张奇峰); Zhang YX(张运修); Huo LQ(霍良青); Kong FD(孔范东); Du LS(杜林森); Cui SG(崔胜国); Zhao Y(赵洋)
作者部门水下机器人研究室
会议名称The 7th International Conference on Intelligent Robotics and Application (ICIRA2014)
会议日期December 17-20, 2014.
会议地点Guangzhou, China
会议主办者South China University of Technology, China
会议录名称Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
出版者Springer Verlag
出版地Berlin
2014
页码117-128
收录类别EI ; CPCI(ISTP)
EI收录号20144800259761
WOS记录号WOS:000354872700012
产权排序1
ISSN号0302-9743
ISBN号978-3-319-13965-4
关键词Deep-sea Hydraulic Manipulator Pi Control Algorithm 7000m Pressure Experiment Application TestIng In The Sea
摘要The design and realization of a 7-Function master-slave deep-sea 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. To achieve smooth control result, PI control algorithm with variable gains is applied on the control of the slave arm. The control algorithm is also certified effective in alleviating the movement delay and overshoot jitter of slave-arm. Based on the reliable running experiments on land, a pressure experiment system to test the manipulator’s index of 7000m depth is proposed. The pressure experimenting process is described in detail. Finally, actually application testing in the sea is presented. During the process of application testing, the manipulator movement function was normal and successfully completed the goal underwater fetching tasks. The whole result of experiment shows that the hydraulic manipulator satisfies 7000m design depth index.
语种英语
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15311
专题水下机器人研究室
通讯作者Zhang QF(张奇峰)
作者单位1.Key Laboratory of Robotics, Shenyang Institute of Automation, CAS Shenyang, China
2.China University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Zhang QF,Zhang YX,Huo LQ,et al. Design and pressure experiments of a deep-sea hydraulic manipulator system[C]//South China University of Technology, China. Berlin:Springer Verlag,2014:117-128.
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