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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
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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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