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"...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..." Jay, Interesting and useful response as usual. Your points above make me realize that "nimbleness" would be preferable to brute strength. I can envision the value of being able to manipulate and inflate a lift bag with the same arm. That would be a pretty neat capability. I think then that a worthwhile design goal is the ability to pick up a wristwatch. That capability with an external inflation source, (perhaps a flex line integral to the arm) should do the trick nicely. Thanks! Joe
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. |