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题名: Design and experiments of a deep-sea five-function electric manipulator system
作者: 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: OCEANS 2016 - Shanghai
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 1-4
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
WOS记录号: WOS:000386521800078
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18774
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Fan YL,Zhang QF,Zhang YX,et al. Design and experiments of a deep-sea five-function electric manipulator system[C]. 见:OCEANS 2016 - Shanghai. Shanghai, China. April 10-13, 2016.
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