[PSUBS-MAILIST] Manipulator arm

Thu May 29 17:37:25 EDT 2014

Hugh / Scott,
here is one of a few robotic arm calculators I've come across.
http://www.robotshop.com/blog/en/robot-arm-torque-calculator-9712

I guess it's a matter of horses for courses.
Where am I going to mount my manipulator?
How much reach do I want?
How many joints?
What weight do I want to lift?
What size cylinder does the calculator indicate I'll need for each joint?
How big an oil reservoir do I need based on the internal capacity of all cylinders?
What  & speed do I need the manipulator to move at?
& what sized pump based on the above & operating depth.
   Then when you aren't happy with the results you try another scenario.
Alan

________________________________
 From: Hugh Fulton via Personal_Submersibles <personal_submersibles at psubs.org>
To: 'Personal Submersibles General Discussion' <personal_submersibles at psubs.org> 
Sent: Friday, May 30, 2014 8:36 AM
Subject: Re: [PSUBS-MAILIST] Manipulator arm

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> wrote:

Subject: [PSUBS-MAILIST] Manipulator arm
To: 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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