[PSUBS-MAILIST] Manipulators

[Dan H.]

To all.
A few years back I was working on a manipulator design but shelved it for lack of a suitable small multi function hydraulic valve.  I was looking for a small manually operated valve.  I was going to use air cylinders for their compact design and reasonable pressure, plastic hoses rated to around 800 PSI and a multi section manual operated control valve.  I didn't want to design a build a valve too.  Has any one found something I missed?  Maybe a gallon or less / minute flow at maybe 300 to 600 PSI is what I was thinking about. 

Hank, The arm you have is a beautiful design.  What are you using for control valves?

Thanks, Dan H.
  ----- Original Message ----- 
  From: Vance Bradley 
  To: Personal Submersibles General Discussion 
  Sent: Friday, January 24, 2014 11:42 AM
  Subject: Re: [PSUBS-MAILIST] Manipulators


  Alan,
  I've seen the discussion. The smallest sub I know of with a manipulator on board is the Deepworker. No exfra tanks there. Metacentric vs CG works in all directions. Yes, you get movement and no it's not a problem in my experience. I did operate the bigger subs but also smaller ones, to include Aquarius, briefly in a DW, plus three different K-boats, so speak with some experience. You put everything you imagine on a small sub, you get a big sub. In any case, It's probably best to think of a psub as a work in progress. Get the boat done, go play, scratch head, get more work done, go play, scratch head......and so it goes.
  Vance

  Sent from my iPhone

  On Jan 24, 2014, at 3:20 AM, Alan James <alanlindsayjames at yahoo.com> wrote:


    Vance,
    a couple of people have mentioned lately the problem of the shifting of
    balance as you reach out with a manipulator & have talked about countering it with
    trim tanks. Is it a big deal if you go nose down, tail up? Possibly more of a problem working on a 
    vertical face than picking something up off the bottom. 
    Some of our subs will be a lot smaller than the working subs you were in so the problem would be 
    accentuated in our case.
    Can you give us some of your experience on this thanks & in your opinion is it worth messing
    about with the trim while operating the manipulator.
    Alan



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