7000M Pressure Experiment of a Deep-sea Hydraulic Manipulator System
文献类型：会议论文
| 作者 | Zhang QF(张奇峰) ; Chen J(陈俊); Huo LQ(霍良青); Kong FD(孔范东); Du LS(杜林森); Cui SG(崔胜国); Zhao Y(赵洋); Tang YG(唐元贵)
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| 出版日期 | 2014 |
| 会议名称 | OCEANS'14 MTS/IEEE St. John's |
| 会议日期 | September 14-19, 2014 |
| 会议地点 | St. John's, Canada |
| 关键词 | Deep-sea hydraulic manipulator Design and experiments Double-screw-pair swing rotary 7000m pressure experiment |
| 页码 | 1-5 |
| 通讯作者 | 张奇峰 |
| 中文摘要 | Deep-sea master-slave hydraulic manipulator is among most commonly tools equipped on remotely-operated vehicles or human occupied vehicles. The design and realization of a 7-Function master-slave hydraulic manipulator can be used in 7000 meters depth is proposed. Linear actuator, rotary actuator and cycloid motor are the three basic modules of the slave arm. A double-screw-pair swing rotary actuator is designed as the rotary actuator, which realized rotary driving, multi-path oil and electric cable passing through and rotary angle measuring. Based on the reliable running experiments on land, a pressure experiment system to test the manipulator’s index of 7000m depth is proposed. In the experiment system, the master controller with the whole system’s power supply and experiment monitor are placed outside of the pressure cabin. And the slave arm, slave controller, hydraulic system, underwater light and cameras are inside the cabin. The pressure experimenting process is described in detail. Also, during the exciting experiment, some objective things were also present, such as the rotary actuator rotating slow even stop rotating in high pressure environment. Complementary experiments aiming at problem arose in the whole system testing had to be done lately. The whole system’s and complementary experiment show that the manipulator satisfy 7000m design depth index. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | OCEANS'14 MTS/IEEE St. John's
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-4918-2 |
| WOS记录号 | WOS:000369848800024 |
| 源URL | [http://ir.sia.cn/handle/173321/15305]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Zhang QF,Chen J,Huo LQ,et al. 7000M Pressure Experiment of a Deep-sea Hydraulic Manipulator System[C]. 见:OCEANS'14 MTS/IEEE St. John's. St. John's, Canada. September 14-19, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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