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题名: Design and pressure experiments of a deep-sea hydraulic manipulator system
作者: 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: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
会议录出版者: Springer Verlag
会议录出版地: Berlin
出版日期: 2014
页码: 117-128
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15311
Appears in Collections:水下机器人研究室_会议论文

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