Re: [PSUBS-MAILIST] manipulator

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

Pierre,

I haven't really given it a lot of thought yet.  I have to get a bunch of
things done that were on the back burner while finishing the sub.  This
winter I may be getting to a manipulator.  Just off the op of my head, I
think I'd like to be able to lift more then ten pounds.

Dan H.

Thanks for the info Vance!

----- Original Message ----- 
From: "pierre&marie" <poulin.carrier@videotron.ca>
To: <personal_submersibles@psubs.org>
Sent: Tuesday, June 29, 2004 8:40 PM
Subject: Re: [PSUBS-MAILIST] manipulator


> Thanks for your reply Vance,
>
> I know that positionning with pneumatic cylinder is easy with no load but
> can be a nightmare with a load... I do agree with you that if the arm is
> only used for lifting very small object, basic pneumatic would be
> easyer/cheaper to use.
>
> Dan, what "weight" do you plan to use the arm for? Me I'm more in the
10-15
> pounds...
>
> Anyway, I'll keep you informed of the progress!
>
> Pierre Poulin
>
>
> ----- Original Message -----
> From: <VBra676539@aol.com>
> To: <personal_submersibles@psubs.org>
> Sent: Tuesday, June 29, 2004 2:54 PM
> Subject: Re: [PSUBS-MAILIST] manipulator
>
>
> > Dan and Pierre,
> >
> > There are control issues with the "backhoe" kind of design you are
talking
> > about. Remember that the more the thing weighs, the jerkier it is. This
is
> not
> > important the first time you get it to move, but it sucks when you are
> trying
> > to get something done. If you doubt it, watch Don Liberatore from Harbor
> Branch
> > try to grab a moving sample with their old arm (rate controlled) stuck
on
> the
> > front of 14 tons of submarine. The Galapagos trip had several examples.
> >
> > Consider a simple arm, pivot and rotate at the shoulder joint, and a
claw
> > open and close. If you want to get fancy, add a telescope section to the
> middle
> > of it. There are dirt simple ways to make that work. Phil Nuytton built
a
> 3-way
> > arm for that little 1-man thing (I forget its name, not the
Deepworkers),
> The
> > air vents inboard through a 3-way valve, pretty much like the old HYCO
> main
> > ballast vent valves, That's speculation, as it has been awhile since I
saw
> the
> > thing. But it was done with SS pneumo cylinders and flex tubing--about
as
> > cheap as you can get.
> >
> > For hydraulics, you have to carry a pump, then valve the fluid. Parker
> > Hannifin (among others) has a lot of that stuff, but it ain't cheap.
> Surplus
> > cylinders and valves tend to be Russian tractor grade (read massive).
Then
> there are
> > some really nice little electro-hydraulic packages and electric solenoid
> > valves (Parker again).
> >
> > Look at the arm on the front of the Diaphus (PC-14) in Frank's book.
That
> was
> > a square one, and as far as I know is still working.
> >
> > Vance
> >
> >
> >
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