Research and experiment on viscous friction power loss of deep-sea electric manipulator
文献类型：会议论文
| 作者 | Fan YL(范云龙)2 ; Zhang QF(张奇峰)2; Wang HL(王海龙)2; Bai YF(白云飞)1,2; Zhang AQ(张艾群)2
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| 出版日期 | 2018 |
| 会议日期 | May 28-31, 2018 |
| 会议地点 | Kobe, Japan |
| 关键词 | deep-sea electric manipulator model of viscous power loss pressure test of oil-filled joint |
| 页码 | 1-4 |
| 英文摘要 | Deep-sea electric manipulator usually adopts internally oil-filled method, and the joint motors are soaked in the oil, so that the oil pressure and the water pressure outside will be basically balanced. However, due to the high pressure in deep sea, the oil viscosity increases, and the viscous frictional resistance will cause the viscous power loss of motor to become bigger. This paper establishes the theoretical model of viscous friction power loss and measures the viscous friction power loss of pitching joint motor and wrist-clamp module in oil-filled movement under the simulated pressure at different depths through pressure experiment. Meanwhile, the model parameter of viscous power loss is obtained by data fitting. Through the established model of viscous power loss, we can predict the viscous friction power loss of electric manipulator when it operates under water. At the same time, this model provides theoretical basis for dynamics modeling of deep-sea electric manipulator and trajectory optimization based on energy consumption. © 2018 IEEE. |
| 产权排序 | 1 |
| 会议录 | OCEANS 2018 MTS/IEEE Kobe
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-1654-3 |
| 源URL | [http://ir.sia.cn/handle/173321/24129]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Bai YF(白云飞) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Fan YL,Zhang QF,Wang HL,et al. Research and experiment on viscous friction power loss of deep-sea electric manipulator[C]. 见:. Kobe, Japan. May 28-31, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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