Design and experiments of a deep-sea five-function electric manipulator system

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	Design and experiments of a deep-sea five-function electric manipulator system
	Fan YL(范云龙); Zhang QF(张奇峰); Zhang YX(张运修); Huo LQ(霍良青); Zhang ZY(张竺英); Chen ZE(陈质二)
作者部门	水下机器人研究室
会议名称	OCEANS 2016 - Shanghai
会议日期	April 10-13, 2016
会议地点	Shanghai, China
会议录名称	OCEANS 2016 - Shanghai
出版者	IEEE
出版地	Piscataway, NJ, USA
	2016
页码	1-4
收录类别	EI ; CPCI（ISTP）
EI收录号	20162902613102
WOS记录号	WOS:000386521800078
产权排序	1
ISSN号	0197-7385
ISBN号	978-1-4673-9724-7
关键词	Deep-sea Electric Manipulator Electric Linear Cylinder Wrist-clamp
摘要	The realization and key technology of a medium-load underwater electric manipulator is researched for the demand of the small and medium deep-sea underwater vehicle. The manipulator consists of electric linear cylinder module and wrist-clamp module. The linear cylinder can offer large linear force and displacement feedback to realize positioning control, and the wrist-clamp module can output continuous rotation and clamp movements without using conductive slip ring. The manipulator has a larger load capacity than that directly driven by the joint and can be used in 6000m deep-sea. The design and control experiments of the manipulator are described in detail.
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/173321/18774
专题	水下机器人研究室
通讯作者	Fan YL(范云龙)
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	Fan YL,Zhang QF,Zhang YX,et al. Design and experiments of a deep-sea five-function electric manipulator system[C]. Piscataway, NJ, USA:IEEE,2016:1-4.

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