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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.
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