| 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
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| Department | 水下机器人研究室 |
| Conference Name | OCEANS 2018 MTS/IEEE Kobe |
| Conference Date | May 28-31, 2018 |
| Conference Place | Kobe, Japan |
| Source Publication | OCEANS 2018 MTS/IEEE Kobe |
| Publisher | IEEE |
| Publication Place | New York |
| 2018 | |
| Pages | 1-4 |
| Indexed By | EI |
| EI Accession number | 20190406415702 |
| Contribution Rank | 1 |
| ISBN | 978-1-5386-1654-3 |
| Keyword | deep-sea electric manipulator model of viscous power loss pressure test of oil-filled joint |
| Abstract | 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. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/24129 |
| Collection | 水下机器人研究室 |
| Corresponding Author | Bai YF(白云飞) |
| Affiliation | 1.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 | 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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| Research and experim（438KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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