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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
Department水下机器人研究室
Source PublicationIEEE Access
ISSN2169-3536
2021
Volume9Pages:13524-13531
Indexed BySCI ; EI
EI Accession number20210409830831
WOS IDWOS:000611801900001
Contribution Rank1
Funding OrganizationNational Key Research and Development Project [2017YFC0306402, 2016YFC0300400]
KeywordCompensating 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
Identifierhttp://ir.sia.cn/handle/173321/28310
Collection水下机器人研究室
Corresponding AuthorZhang AQ(张艾群)
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.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.
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