Research and experiment on viscous friction power loss of deep-sea electric manipulator

SIA OpenIR > 水下机器人研究室

	Research and experiment on viscous friction power loss of deep-sea electric manipulator
	Bai YF(白云飞)1,2; Zhang QF(张奇峰)1 ; Fan YL(范云龙)1 ; Wang HL(王海龙)1; Zhang AQ(张艾群)1
作者部门	水下机器人研究室
会议名称	OCEANS 2018 MTS/IEEE Kobe
会议日期	May 28-31, 2018
会议地点	Kobe, Japan
会议录名称	OCEANS 2018 MTS/IEEE Kobe
出版者	IEEE
出版地	New York
	2018
页码	1-4
收录类别	EI
EI收录号	20190406415702
产权排序	1
ISBN号	978-1-5386-1654-3
关键词	deep-sea electric manipulator model of viscous power loss pressure test of oil-filled joint
摘要	Deep-sea electric manipulator usually adopts internally oil-filled method, and the joint motors are soaked in the oil, so that the oil pressure and the water pressure outside will be basically balanced. However, due to the high pressure in deep sea, the oil viscosity increases, and the viscous frictional resistance will cause the viscous power loss of motor to become bigger. This paper establishes the theoretical model of viscous friction power loss and measures the viscous friction power loss of pitching joint motor and wrist-clamp module in oil-filled movement under the simulated pressure at different depths through pressure experiment. Meanwhile, the model parameter of viscous power loss is obtained by data fitting. Through the established model of viscous power loss, we can predict the viscous friction power loss of electric manipulator when it operates under water. At the same time, this model provides theoretical basis for dynamics modeling of deep-sea electric manipulator and trajectory optimization based on energy consumption. © 2018 IEEE.
语种	英语
文献类型	会议论文
条目标识符	http://ir.sia.cn/handle/173321/24129
专题	水下机器人研究室
通讯作者	Bai YF(白云飞)
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	Bai YF,Zhang QF,Fan YL,et al. Research and experiment on viscous friction power loss of deep-sea electric manipulator[C]. New York:IEEE,2018:1-4.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Research and experim（438KB）	会议论文		开放获取	CC BY-NC-SA	浏览下载