[PSUBS-MAILIST] Manipulator arm
via Personal_Submersibles
personal_submersibles at psubs.org
Mon Jun 2 17:48:06 EDT 2014
Alec,
The electrics have always had more appeal to me for the reasons you
mention. Battery power is continually becoming more and more efficient and
compact. Air seems to stay about the same. The right setup could change my
mind. This has been posted in the past:
http://www.youtube.com/watch?v=uY0Qz-CxkBE
Jim T.
In a message dated 6/2/2014 4:25:23 P.M. Central Daylight Time,
personal_submersibles at psubs.org writes:
...and if it were me, electric rather than hydraulic. The reason is, itsy
bitsy PSUBS might not have space for the pump, reservoir, valves, and
whatever else hydraulics require, but we do all have batteries. I mean, in Snoopy
small size drives my choices even of instruments. I can't see needing
great lifting power, I'm happy to pick up a sea shell or clip a surfactant line
onto something. The ideal setup for me would be a bolt-on manip requiring
no gear at all in the sub except for one electrical penetrator to connect
the thing to, and joystick(s) to control it with.
Best,
Alec
On Jun 2, 2014, at 10:18 AM, via Personal_Submersibles
<_personal_submersibles at psubs.org_ (mailto:personal_submersibles at psubs.org) > wrote:
Scott,
Looking at Schilling, etc., is instructive, but rather like watching those
shows on cable television where young couples are trying to decide whether
to buy a five hundred and eighty-five thousand dollar house or a six
hundred and twenty-nine thousand dollar house, neither of which they can afford.
What we really need (in my opinion) is something simpler. Think mobile
gripper to start with. I know of a lightweight three-function pneumatic arm
(shoulder left-right/up-down and gripper) that worked fine. It was designed
to be easy on the pocketbook and simple to use/maintain. Valves, tubing,
three pistons, some smallish diameter aluminum pipe, and a few brackets to
build. Not a bad place to start.
Vance
-----Original Message-----
From: swaters via Personal_Submersibles <_personal_submersibles at psubs.org_
(mailto:personal_submersibles at psubs.org) >
To: Personal Submersibles General Discussion
<_personal_submersibles at psubs.org_ (mailto:personal_submersibles at psubs.org) >
Sent: Mon, Jun 2, 2014 9:26 am
Subject: Re: [PSUBS-MAILIST] Manipulator arm
Thanks Alan!
-Scott Waters
Sent from my U.S. Cellular© Smartphone
Alan via Personal_Submersibles <_personal_submersibles at psubs.org_
(mailto:personal_submersibles at psubs.org) > wrote:
Scott,
here is a link to the Schilling manipulator manuals.
_www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx_
(http://www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx)
Very scary. They are the rolls royce of manipulator.
Usually near the end of these 500 page pdfs there
are various gripper drawings with measurements
that would be a good basis for gripper design.
Alan
Sent from my iPad
On 2/06/2014, at 11:37 am, swaters via Personal_Submersibles
<_personal_submersibles at psubs.org_ (mailto:personal_submersibles at psubs.org) > wrote:
Thanks for the info Vance. I am starting to get a idea of some direction
for a psubs manipulator.
Thanks,
Scott Waters
Sent from my U.S. Cellular© Smartphone
Vance Bradley via Personal_Submersibles <_personal_submersibles at psubs.org_
(mailto:personal_submersibles at psubs.org) > wrote:
Hytorc makes a good line of robust, self-contained continuous duty pumps,
most adjustable from 1500 to 10000 psi. The.120 volt units we used had a
universal motor so could be run on straight off the main buss. We set them up
with an accumulator pre- charged to 1000 psi and a pressure switch set
1000 to 1500 psi. This supplied pressure to a double bank (6 each) of
Parker-Hannifen solenoids controlled with their own 12 volt tap. Twelve solenoids
gave us control for two manipulators, plus rudder and dive planes (with some
variance depending on the sub). All of this was mounted internally.
Eventually, perry went to external compensated pump/solenoid boxes for the
manipulators, but by then the subs were up in the one point five to three million
dollar range. The resultant increased budget and their growing experience
with work class ROVs made that practical. All the later boats were set up
with the external package, as far as I know.
Vance
Sent from my iPhone
> On May 29, 2014, at 4:36 PM, Hugh Fulton via Personal_Submersibles
<_personal_submersibles at psubs.org_ (mailto:personal_submersibles at psubs.org) >
wrote:
>
> Hank,
> That seems like very good advice. I am wanting to do a manipulator but
need
> to get some idea of what lifting or forces are required.
> What are the pumps you have found to work best. What pressure do they
> develop? I had no idea what a top pump was so googled it and came up
with
> breast pumps!! I didn't want to make a tit of myself so chased down some
> more and found that they are for convertible cars. They look a bit on the
> large side diameter wise. Any brand best? Cheers, Hugh
>
>
> -----Original Message-----
> From: Personal_Submersibles
[mailto:personal_submersibles-bounces at psubs.org]
> On Behalf Of hank pronk via Personal_Submersibles
> Sent: Friday, 30 May 2014 12:21 a.m.
> To: Personal Submersibles General Discussion
> Subject: Re: [PSUBS-MAILIST] Manipulator arm
>
> Scott,
> No matter how you do it, a manipulator will cost some of money. I have
made
> many and the tendency seems to be, to try and make them strong to lift a
> lot. Well first off, I think it was Vance that said it best. A
manipulator
> is for manipulating not lifting. With that in mind, large components
are
> not needed. Simple air cylinders from ebay are all that is needed. A
2in
> bore and depending on manip design, 4in stroke, maybe as much as 6in
stroke
> is all you need. Keep the rod size small at 5/8, that reduces the back
> pressure. I have said it before, I love convertible top pumps.
Consider
> using one pump per function again purchase from ebay for 125 bucks. No
need
> for valves, the pump simply runs in reverse to change direction of the
> piston. Keep the pumps inside the sub and it is real simple. As for the
arm
> itself, if have made them from cardboard first. You can mock it up that
way
> and find the best pin locations for the cylinders and ensure the
cylinders
> stroke properly without over centering. You can build the arm with square
> tubing, use 3 inch aluminum so the cylinders fit inside when the arm is
> folded up. Forget about a wrist until you have lots of time to play
around.
> Four functions will serve a psubber well and can be built for under 1,000
> dollars. I can send you a convertible top pump to play with if you like.
> Hank
> --------------------------------------------
> On Wed, 5/28/14, swaters via Personal_Submersibles
> <_personal_submersibles at psubs.org_
(mailto:personal_submersibles at psubs.org) > wrote:
>
> Subject: [PSUBS-MAILIST] Manipulator arm
> To: _personal_submersibles at psubs.org_
(mailto:personal_submersibles at psubs.org)
> Received: Wednesday, May 28, 2014, 9:31 PM
>
> Hey guys. I am
> still working on the manipulator arm project for the K boats. I am a
> little overwhelmed as to what direction to head. I really don't know
where
> to start because of my lack of knolwedge. Does anyone have any pointers
as
> to where to start? I am thinking about using electric motors rather
than
> hydrolics just because of the amount of external operating
> peices. Thanks,Scott Waters
>
>
>
> Sent
> from my U.S. Cellular© Smartphone
>
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