Design and Pressure Experiments of a Deep-Sea Hydraulic Manipulator System

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• 作者：Zhang Qifeng (21)
  Zhang Yunxiu (21) (22)
  Huo Liangqing (21)
  Kong Fandong (21)
  Du Linsen (21)
  Cui Shengguo (21)
  Zhao Yang (21)
  
• 关键词：Deep ; sea hydraulic manipulator ; PI control algorithm ; 7000m pressure experiment ; Application testing in the sea
• 刊名：Lecture Notes in Computer Science
• 出版年：2014
• 出版时间：2014
• 年：2014
• 卷：8917
• 期：1
• 页码：117-128
• 全文大小：1,366 KB
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  13. Yao, J.J., Wang, L.Q., Jia, P., Wang, Z.: Development of a 7-Function hydraulic underwater manipulator system. In: Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation, Changchun, China, pp. 1202-206 (2009)
  14. Zhang, Q., Chen, J., Huo, L., Sun, B., Zhao, Y., Shengguo, C.: Design and Experiments of a Deep-sea Hydraulic Manipulator System, Oceans, San Diego (2013)
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  16. Li, L., Sun, B., Zhang, Q.: Model and Simulation Analysis of Asymmetrical Hydraulic Cylinder Controlled by Servo-valve. Coal Mine Machinery?32(10), 89-1 (2011)
  
• 作者单位：Zhang Qifeng (21)
  Zhang Yunxiu (21) (22)
  Huo Liangqing (21)
  Kong Fandong (21)
  Du Linsen (21)
  Cui Shengguo (21)
  Zhao Yang (21)
  
  21. Key Laboratory of RoboticsShenyang Institute of Automation, CAS, Shenyang, China
  22. China University of Chinese Academy of Sciences, Beijing, China
  
• ISSN：1611-3349

文摘

The design and realization of a 7-Function master-slave deep-sea 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. To achieve smooth control result, PI control algorithm with variable gains is applied on the control of the slave arm. The control algorithm is also certified effective in alleviating the movement delay and overshoot jitter of slave-arm. Based on the reliable running experiments on land, a pressure experiment system to test the manipulator’s index of 7000m depth is proposed. The pressure experimenting process is described in detail. Finally, actually application testing in the sea is presented. During the process of application testing, the manipulator movement function was normal and successfully completed the goal underwater fetching tasks. The whole result of experiment shows that the hydraulic manipulator satisfies 7000m design depth index.