Design and experiments of a deep-sea five-function electric manipulator system
- Resource Type
- Conference
- Authors
- Fan, Yunlong; Zhang, Qifeng; Zhang, Yunxiu; Huo, Liangqing; Zhang, Zhuying; Chen, Zhier
- Source
- OCEANS 2016 - Shanghai. :1-4 Apr, 2016
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Geoscience
Power, Energy and Industry Applications
Signal Processing and Analysis
Transportation
Manipulators
Wrist
Clamps
Force
Underwater vehicles
Shoulder
DC motors
deep-sea
electric manipulator
electric linear cylinder
wrist-clamp
- Language
The realization and key technology of a medium-load underwater electric manipulator is researched for the demand of the small and medium deep-sea underwater vehicle. The manipulator consists of electric linear cylinder module and wrist-clamp module. The linear cylinder can offer large linear force and displacement feedback to realize positioning control, and the wrist-clamp module can output continuous rotation and clamp movements without using conductive slip ring. The manipulator has a larger load capacity than that directly driven by the joint and can be used in 6000m deep-sea. The design and control experiments of the manipulator are described in detail.