| Modeling and Optimization of Compensating Oil Viscous Power for a Deep-sea Electric Manipulator | |
Bai YF(白云飞)1,2,3,4; Zhang QF(张奇峰)1,2,3 ; Zhang AQ(张艾群)1,2,3
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| Department | 水下机器人研究室 |
| Source Publication | IEEE Access
 |
| ISSN | 2169-3536 |
| 2021 | |
| Volume | 9Pages:13524-13531 |
| Indexed By | SCI ; EI |
| EI Accession number | 20210409830831 |
| WOS ID | WOS:000611801900001 |
| Contribution Rank | 1 |
| Funding Organization | National Key Research and Development Project [2017YFC0306402, 2016YFC0300400] |
| Keyword | Compensating oil viscous power deep-sea electric manipulator modi ed modeling viscous power experiment viscous power optimization |
| Abstract | The dynamic performance and load capacity of a deep-sea electric manipulator are obviously affected by the viscous resistance of compensating oil. However, the complex geometric clearance of the oil-filled joint of the manipulator makes it difficult for existing theoretical models to accurately model this problem. Based on the existing theoretical models, a viscous power model considering the influence of the surface grooves of the rotor and stator is proposed. To reduce the viscous power loss, an optimization method for the clearance geometry is proposed. This optimization method is carried out by filling the surface grooves of the motor rotor and stator with epoxy resin. This method makes the clearance geometry of the compensated oil more regular. The modified model and optimization method are validated by designing an experimental installation and method. The experimental results demonstrate the accuracy and effectiveness of the modified theoretical model and optimization method. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/28310 |
| Collection | 水下机器人研究室 |
| Corresponding Author | Zhang AQ(张艾群) |
| Affiliation | 1.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.Key Laboratory of Marine Robotics, Liaoning Province, Shenyang 110169, China 4.Department of Mechatronic Engineering, University of Chinese Academy of Sciences, Beijing 100049, China. |
| Recommended Citation GB/T 7714 | Bai YF,Zhang QF,Zhang AQ. Modeling and Optimization of Compensating Oil Viscous Power for a Deep-sea Electric Manipulator[J]. IEEE Access,2021,9:13524-13531. |
| APA | Bai YF,Zhang QF,&Zhang AQ.(2021).Modeling and Optimization of Compensating Oil Viscous Power for a Deep-sea Electric Manipulator.IEEE Access,9,13524-13531. |
| MLA | Bai YF,et al."Modeling and Optimization of Compensating Oil Viscous Power for a Deep-sea Electric Manipulator".IEEE Access 9(2021):13524-13531. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Modeling and Optimiz（1841KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | View Application Full Text | |
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