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Influence of Ambient Pressure on Performance of a Deep-sea Hydraulic Manipulator
Tian QY(田启岩)1,2; Zhang QF(张奇峰)1,2; Chen YZ(陈言壮)1,3; Huo LQ(霍良青)1,2; Li S(李硕)1,2; Wang C(王聪)1,3; Bai YF(白云飞)1,3; Du LS(杜林森)1,2
Department水下机器人研究室
Conference NameOCEANS 2019 Marseille
Conference DateJune 17-20, 2019
Conference PlaceMarseille, France
Source PublicationOCEANS 2019 Marseille
PublisherIEEE
Publication PlaceNew York
2019
Pages1-6
Contribution Rank1
ISBN978-1-7281-1450-7
KeywordDeep-sea hydraulic manipulator Viscosity-pressure characteristics Nonlinear mathematical model 11000m on-line pressure experiment
AbstractDeep-sea hydraulic manipulator is the most commonly used operation equipment for executing subsea operations in different applications. The increasing demands on underwater operational ease require the implementation of manipulator system which can maintain similar dynamic performance in different working conditions Considering the variations of seawater properties at different ocean depths, especially high hydrostatic pressure in deep-sea environment will make the kinematic viscosity of oil obviously increased, which has a significant influence on the performance of deep-sea hydraulic manipulator. The viscosity-pressure characteristics of working medium is tested. A detailed nonlinear mathematical model and related simulations considering the significant slender pipelines between valves and actuators due to the increased oil viscosity are conducted to analyze the ambient pressures against varying depths affecting the manipulator performance. The 115MPa online pressure experimental results indicate the joint response characteristics at different ambient pressures, which provides basis for response consistency control of deep-sea hydraulic manipulator.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26048
Collection水下机器人研究室
Corresponding AuthorTian QY(田启岩)
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 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Tian QY,Zhang QF,Chen YZ,et al. Influence of Ambient Pressure on Performance of a Deep-sea Hydraulic Manipulator[C]. New York:IEEE,2019:1-6.
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