RE: [PSUBS-MAILIST] Manipulator actuation / design

[Phil Nuytten <pnuytten@compuserve.com>]

Message text written by INTERNET:personal_submersibles@psubs.org
><

Hi, Joe:
        Yup, you got it right . The reason for running the QD's thru' an
outside flange is the sleeve actuation plate. Suppose your arm is round -
with the QD sleeves arranged around the flange - then the holes in the
sleeve actuator plate are not holes, but are round-bottomed slots that are
open around the perimeter of the sleeve actuator plate. These can be milled
into the relatively thin sleeve actuator plate or drllied and then opened
up with a hacksaw and file. The slots fit snugly around the 'wasp-waisted'
actuator sleeves themselves . Since the QD sleeves turn easily and
independantly of the female QD - you can slide/load all of the female QDs
onto the sleeve actuator plate BEFORE you screw them into the threaded arm
end-plate. The short piston goes between the arm end-plate and acts to pull
all the detent sleeves simultaneously - only about a half inch of piston
rod travel is required. 
        You could put a cluster of QDs in the center for neatness - but the
piston is in the center, so it usually easier to put them around the
outside (with a protective sleeve (if you wish).
 We do exactly the same thing as this whole assembly - but weithout the
QDs. It involves some close tolerance machining, so the QD approach is
probably more useful for 'garage sub-builders' (G)
Hope this helps clarify.
Phil
    



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