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Joe, Electrical actuators have been used on ROVs for some time.
The commercial ROVs have a very large electrical supply from the surface so
running hydraulics is not a big issue. Alvin is a Navy search and
recovery asset that is primarily used for science so its actuator package was
paid for by the government. Harbor Branch used Bimba air-actuated
cylinders for many applications and would replace them after a few uses.
Something that has to be kept in mind when designing manipulators is moment…
when you reach out to the maximum extent with the arm to pick something up, a
small weight can cause a large moment force. Additionally, a PSUB doesn’t
have a whole lot of reserve buoyancy so can’t lift much and now.
For medium size recovery (larger than a few pounds) you would be better to have
a releasable grab with a buoyant float to the surface and then recover the object
from your sub tender. R/Jay Respectfully, Jay K. Jeffries Andros Is., Bahamas As scarce as the truth is, the supply has always been in excess of
the demand. -Josh Billings From:
owner-personal_submersibles@psubs.org
[mailto:owner-personal_submersibles@psubs.org] On Behalf Of Joseph
Perkel I've
been doing some reading which has formulated several questions in my
mind. |