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Development of a full ocean depth hydraulic manipulator system
Chen YZ(陈言壮)1,2,3; Zhang QF(张奇峰)1,2; Feng XS(封锡盛)1,2; Huo LQ(霍良青)1,2; Tian QY(田启岩)1,2; Du LS(杜林森)1,2; Bai YF(白云飞)1,2,3; Wang C(王聪)1,2,3
Department水下机器人研究室
Conference Name12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Conference DateAugust 8-11, 2019
Conference PlaceShenyang, China
Source PublicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
PublisherSpringer Verlag
Publication PlaceBerlin
2019
Pages250-263
Indexed ByEI
EI Accession number20193307318004
Contribution Rank1
ISSN0302-9743
ISBN978-3-030-27534-1
KeywordFull ocean depth hydraulic manipulator Single-vane swing cylinder 11000 m pressure experiment
AbstractThis paper presents the development of a full ocean depth master-slave hydraulic manipulator system for marine engineering and research in the harsh hadal environment. Three basic modules of the slave arm including a linear cylinder, a single-vane swing cylinder, and a new wrist joint are designed. The electronic system and software are developed then. Laboratory experiments on the single-vane swing cylinder and the new wrist joint were carried out to verify the performance of new joints. Additionally, a 11000 m pressure experiment is conducted, and the results demonstrate that the full ocean depth hydraulic manipulator system works well in the 11000 m environment.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25493
Collection水下机器人研究室
Corresponding AuthorZhang QF(张奇峰)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Chen YZ,Zhang QF,Feng XS,et al. Development of a full ocean depth hydraulic manipulator system[C]. Berlin:Springer Verlag,2019:250-263.
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