Re: [PSUBS-MAILIST] manipulator

["Dan H." <jmachine@adelphia.net>]

Pierre,
It sounds like you have some experience!  Just the guy for the job.

Your excavator example is exactly what I was thinking of.  It would need to
rotate at the base, have a boom that moves up and down, a stick arms that
moved up and down and a clamping device at the end.  It would also be
helpful if the clamping device moved up and down rotated.  That would all
require six axes of movement.

As I said, I haven't done any real research on it yet.  What I would build
is only a small arm.  Maybe 18 to 24 inches extended.  Hydraulics has it's
advantages but so do electrical drives.  At this stage, I don't know which
way I'll go.  Either way, I'll operate it with six switches or levers.
Nothing more complex then that.  It takes a bit of practice to get used to
but not difficult to operate like that.  No more then any machine operator
does.

Even if it is awkward in operation, that's ok.   Keep in mind, it's for a
PSUB and not the Mars Rover.  As long as it works and has a reasonable
budget, it's do-able.

If hydraulic driven, it would only take a very small pump valve and piping.
A power steering pump is way to big.  I have one of those on an old fork
lift and more thousand pound pallets around with it.  Hydraulics has a lot
of power in a small package.  My manipulator will be designed around a 100
pound load in air or maybe even less.  In the water that's plenty of lift.
A small PSUB isn't stable enough or large enough to handle more then that
anyway.

It should be detachable, not a big thing at this point though.  First I have
to think through the manipulator.

Dan H.
----- Original Message ----- 
From: "pierre&marie" <poulin.carrier@videotron.ca>
To: <personal_submersibles@psubs.org>
Sent: Sunday, June 27, 2004 7:45 PM
Subject: [PSUBS-MAILIST] manipulator


> Hi Dan,
> Hello Marten,
>
> I did build 3 manipulators at work so i have some experience with them.
But
> nothing for under-water...
>
> What type of manipulator are you looking for? Maybe we can share plans and
> drawings? I was thinking something like the arm that we see at the back of
> excavators but with a gripper at the end. What about you?
>
> Yes, I will use a canister type with air and oil together but with a
> flexible diaphragme (spelling) to separate the oil from the air. And it
will
> be a close circuit. The trick is to use two canisters and switch from one
to
> the other with the returning oil.
>
> Let me know what you think! We could make ours plans available to all.
>
> Pierre "manipulator" Poulin
>
>
>
> ----- Original Message -----
> From: "Dan H." <jmachine@adelphia.net>
> To: <personal_submersibles@psubs.org>
> Sent: Sunday, June 27, 2004 12:59 PM
> Subject: Re: [PSUBS-MAILIST] Golf Cart Motor over Hydraulic
>
>
> > Pierre,
> >
> > I've been giving some thought to manipulators myself.  Nothing on paper
> yet.
> > I was thinking about trying DC gear motors filled with oil.  I don't
need
> > anything fancy, just workable.
> >
> > Air over hydraulic would be good I guess.  The air over hydraulic power
> > packs I've seen take quite a bit of air and they generate very high
> pressure
> > hydraulics, in the 10,000 PSI range.  You don't need that for
> manipulators.
> > I've seen an air over hydraulic system where they simply filled a
canister
> > with oil and injected air above the oil. The oil comes out at the same
> > pressure as the applied air.  Only thing is, after using the pressurized
> oil
> > you have to vent the remaining air and return the oil to the canister.
> The
> > advantage is that your controlling oil and not cushiony air.
> >
> > Let me know what your thinking about in a manipulator.  Maybe our needs
> are
> > similar.
> > I was thinking it would make a good winter project.
> >
> > Dan H.
> >
> > ----- Original Message -----
> > From: "Pierre Poulin" <pipo305@hotmail.com>
> > To: <personal_submersibles@psubs.org>
> > Sent: Sunday, June 27, 2004 8:04 AM
> > Subject: Re: [PSUBS-MAILIST] Golf Cart Motor over Hydraulic
> >
> >
> > > Hello,
> > >
> > > What about pneumatic power? Since we already have compressed air
> > available?
> > > There is a system that convert compressed air to hydraulic power.
> Removing
> > > the rubber feeling of only pneumatic system but with-out the need for
a
> > pump
> > > and motor. Of course, the power of the manipulator is smaller with
> > pneumatic
> > > but could be ebought...
> > >
> > > I'm already making plans to build a small manipulator with this
system.
> > >
> > > Any tough?
> > >
> > > Pierre Poulin
> > >
> > >
> > > >From: Fly Deep <flydeep4u@yahoo.com>
> > > >Reply-To: personal_submersibles@psubs.org
> > > >To: personal_submersibles@psubs.org
> > > >Subject: Re: [PSUBS-MAILIST] Golf Cart Motor over Hydraulic
> > > >Date: Sat, 26 Jun 2004 07:03:24 -0700 (PDT)
> > > >
> > > >Unfortunately hydraulic power is almost the only practical option for
> > > >manipulators.
> > > >DJB
> > > >
> > > >
> > > >---------------------------------
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> > >
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