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Deep-sea hydraulic manipulator is an essential operation equipment for scientific investigation and resource exploitation. To improve the efficiency of hydraulic power source for manipulator in the presence of load variations, a pressure control variable displacement pump (PCVDP) is used to respond quickly to dynamic demands of multiple loads. Considering the variations of seawater properties at different...
A greater control performance of underwater slave arm actuator modules could improve the efficiency and accuracy of the whole master-slave manipulator system. In this paper, the development of the 7-function manipulator can be used in 7000m depth is introduced firstly, and then a hierarchical control scheme is researched to control the manipulator system. The information passed to the lower control...
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...
In this paper, we develop a virtual platform of a manned submersible vehicle carrying an underwater manipulator to animate operation tasks under the deep sea. The models of the vehicle and the manipulator refer to the structures of the “Jiaolong” deep manned submersible vehicle and a master-slave servo hydraulic manipulator, respectively. The master-slave manipulator with 7 functions developed by...
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...
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, and the design and control experiments of the salve arm are described in detail. Linear actuator, rotary actuator and cycloid motor are...
The work presented in this paper focus on underwater operation technology, combined with the kinematics structure characteristics of a self-developed 7-function underwater hydraulic manipulator, a method of the manipulator's inverse kinematics is proposed. Using the combined method, in the case of knowing the manipulator end-effector's position and attitude, analytic solution of each joint can be...
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