[PSUBS-MAILIST] Manipulator arm

[Sean T. Stevenson via Personal_Submersibles]

A picture is worth a thousand words, so please find attached a drawing
of something similar.  This is not a ROV manipulator, but rather a
concept drawing I did many years ago for a controllable pitch mechanism
for a low speed wind turbine, but the idea is the same.  The drawing
shows only the inner slip ring.  The outer one would be smooth on the
inside, with oil delivered at the appropriate locations via hoses
plumbed to the outside, and in this particular case, the inner ring has
a taper for mating to a tapered shaft on the drive motor.

Sean


On 2014-05-30 21:53, Sean T. Stevenson via Personal_Submersibles wrote:
> Full continuous rotation isn't that complicated, other than one part
> which needs be machined with O-ring grooves, oil channels and a shaft
> connection (taper, spline or keyway).  Use a small hydraulic motor
> connected to the end of the arm, recessed into an outer slip ring. 
> The motor can be connected traditionally with hoses for supply and
> return.  The inner slip ring connects to the motor shaft and seals to
> the outer slip ring with o-rings.  For a wrist with only one function
> downstream (jaw open and close), you'll need three O-rings, creating
> two oil channels in between.   If you need more functions, just keep
> adding channels / o-rings.  If you secure the inner slip ring to the
> motor shaft with a nut, that central cavity in the inner slip ring can
> become the cylinder that operates the jaw - just drop a cap over it to
> seal it off from the motor shaft, and install a piston and outer cap. 
> Then plumbing the cylinder is as simple as drilling a hole through the
> inner slip ring, connecting each end of the cylinder cavity to its
> corresponding oil channel on the outside.
>
> Sean

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