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Modeling and Experimental Validation of the Hydraulic Power Source for Deep-sea Manipulator
Tian QY(田启岩); Zhang QF(张奇峰); Huo LQ(霍良青); Zhang YX(张运修); Du LS(杜林森); Sun J(孙洁)
Department水下机器人研究室
Conference NameOCEANS 2017 MTS/IEEE Anchorage
Conference DateSeptember 18-21, 2017
Conference PlaceAnchorage, USA
Source PublicationOCEANS 2017 MTS/IEEE Anchorage
PublisherIEEE
Publication PlaceNew York
2017
Pages1-6
Indexed ByEI ; CPCI(ISTP)
EI Accession number20182405297613
WOS IDWOS:000455012000272
Contribution Rank1
ISBN978-0-692-94690-9
KeywordDeep-sea Manipulator Hydraulic Power Source Pressure Control Variable Displacement Pump Mathematical And Simulation Modeling
Abstract

Deep-sea hydraulic manipulator is an essential operation equipment for scientific investigation and resource exploitation. To improve the efficiency of hydraulic power source for manipulator in the presence of load variations, a pressure control variable displacement pump (PCVDP) is used to respond quickly to dynamic demands of multiple loads. Considering the variations of seawater properties at different ocean depths, especially high hydrostatic pressure in deep-sea environment will make the kinematic viscosity of oil obviously increased, which has a significant influence on the performance of PCVDP, the mathematical model is established and related simulations are conducted to analyze the different viscosities against varying depths affecting the dynamic characteristics and performance of PCVDP. The experiment results based on a hydraulic manipulator platform validate the simulation model accuracy, which makes it instructive to deep-sea manipulator design and system parameter matching at any ocean depth.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21290
Collection水下机器人研究室
Corresponding AuthorTian QY(田启岩)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Tian QY,Zhang QF,Huo LQ,et al. Modeling and Experimental Validation of the Hydraulic Power Source for Deep-sea Manipulator[C]. New York:IEEE,2017:1-6.
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