| 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)
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| Department | 水下机器人研究室 |
| Conference Name | OCEANS 2016 - Shanghai |
| Conference Date | April 10-13, 2016 |
| Conference Place | Shanghai, China |
| Source Publication | OCEANS 2016 - Shanghai |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2016 | |
| Pages | 1-4 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20162902613102 |
| WOS ID | WOS:000386521800078 |
| Contribution Rank | 1 |
| ISSN | 0197-7385 |
| ISBN | 978-1-4673-9724-7 |
| Keyword | Deep-sea Electric Manipulator Electric Linear Cylinder Wrist-clamp |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/18774 |
| Collection | 水下机器人研究室 |
| Corresponding Author | Fan YL(范云龙) |
| Affiliation | 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 |
| Recommended Citation 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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| File Name/Size | DocType | Version | Access | License | ||
| Design and experimen（1285KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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