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Here's what I've been doing with the method Phil explained for the
manipulator arm power.
The method of using an off-the-shelf linear actuator to drive a "master
cylinder" which in turn activates an external "slave cylinder" is what I've
been working on for my rudders and dive planes. With double acting ( suck and
blow ) cylinders, the ambient pressure isn't trying to force the piston in
either direction. Sufficient pressure to maintain a seal, keeping water out of
the system, must be maintained either by a pump or possibly an oil reserve tank
with an air space that's pressurized by a line from the high pressure manifold
on the sub. This reserve tank must be strong enough to withstand the external
ambient pressure, plus a little extra so the hydraulic pressure in the system
keeps the water out. The whole system is able to be isolated from the sub
interior with valves at all hull penetrations, and tank connections. I wonder
how well a water based system would work like Phil mentioned.
The electric actuators I've found so far run about $100 or so
each, and small hydraulic cylinders can be had for about $80 on ebay. For my
rudder/dive plane set up, I need three electric actuators, three master,
and three slave cylinders. The K boats use manual levers for dive plane and
rudder control. Definitely much cheaper. Frank
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