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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)
作者部门水下机器人研究室
会议名称OCEANS 2017 MTS/IEEE Anchorage
会议日期September 18-21, 2017
会议地点Anchorage, USA
会议录名称OCEANS 2017 MTS/IEEE Anchorage
出版者IEEE
出版地New York
2017
页码1-6
收录类别EI
EI收录号20182405297613
产权排序1
ISBN号978-0-692-94690-9
关键词Deep-sea Manipulator Hydraulic Power Source Pressure Control Variable Displacement Pump Mathematical And Simulation Modeling
摘要

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.

语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21290
专题水下机器人研究室
通讯作者Tian QY(田启岩)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
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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