[PSUBS-MAILIST] Manipulator actuattion / design

[Phil Nuytten <pnuytten@compuserve.com>]

Hey, Joe!
        There are lots of designs for small sub/rov manips out there - the
kinematics are generally similar to all. One design feature which seems to
be often overlooked in home-builts is the ability to jettison the arm if it
becomes jammed, tangled, or otherwise inextricable from the work. This is
pretty simple with hydraulics  (you use a simple manual hydraulic pump to
dump the manip) but not as simple with electric manip. - You might want to
condsider an electo/hydraulic hybrid  that eliminates solenoid valves and
conventional hydraulic pumps Whatever design you go with, make absolutely
sure you can drop the manip if you have to-  better the arm should 'sleep
with the fishes' than you!
Phil




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