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![]() ![]() ![]() | |
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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