Glen,
Interesting and scary looking at the same time!
I can see the attraction regarding the simplicity of the excavators linear motion but, would wonder about how the limited range of motion would translate to desired capabilities. It could be a little annoying to have to lift the sub off the bottom and set down again in order to reposition the arm an inch or two only to miss the mark yet again.
You remind me that cutting capability would be a desirable one. I suspect, the ability to cut lobster pot lines and or an ROV tether would be desirable.
Jay's point regarding reserve of buoyancy is well taken in that the tiny Videoray system with spool weighs 70 lbs. Hmmm, a front porch, collection basket, manipulator, fly out ROV?? I'm glad my software has weight and balance capability.
Thinking out loud.
Joe
From: glenbrown@vodamail.co.za
To: personal_submersibles@psubs.org
Subject: Re: [PSUBS-MAILIST] Manipulator actuation / design
Date: Sun, 5 Oct 2008 17:21:32 +0200
Hi Joe
Check these out www.leadingedge attachments.com quick coupler and hydraulic thumbs .www.grapples.us check video.this kind of equipment is very large but obviously can be drastically scaled down.
Best Regards
Glen
----- Original Message -----
Sent: Sunday, October 05, 2008 4:48 AM
Subject: RE: [PSUBS-MAILIST] Manipulator actuation / design
"....Also any places to see a simple manipulator design?...."
Hugh,
I can't speak to the dump mechanism but, the robotics link I provided in my original post
has an excellent tutorial on the subject.
Joe
> From: hc.fulton@gmail.com
> To: personal_submersibles@psubs.org
> Subject: RE: [PSUBS-MAILIST] Manipulator actuattion / design
> Date: Sun, 5 Oct 2008 12:51:17 +1300
>
> Phil, Where can we get info on the dump mechanism. Sounds a must. Also any
> places to see a simple manipulator design? Hugh
>
>
> -----Original Message-----
> From: owner-personal_submersibles@psubs.org
> [mailto:owner-personal_submersibles@psubs.org] On Behalf Of Phil Nuytten
> Sent: 05 October 2008 12:33
> To: INTERNET:personal_submersibles@psubs.org
> Subject: [PSUBS-MAILIST] Manipulator actuattion / design
>
> 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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