[PSUBS-MAILIST] Manipulator arm

Mon Jun 2 21:29:43 EDT 2014

Mmmm sea cucumber sandwiches--------------------------------------------
On Mon, 6/2/14, Alan James via Personal_Submersibles <personal_submersibles at psubs.org> wrote:

 Subject: Re: [PSUBS-MAILIST] Manipulator arm
 To: "Personal Submersibles General Discussion" <personal_submersibles at psubs.org>
 Date: Monday, June 2, 2014, 4:16 PM

 Alec,here is just what you
 want.An lightweight underwater
 electric manipulator from China, complete with
 cameras& shopping basket for
 samples.I have seen other versions of
 this.
 Weihai Future Robot Co., Ltd.
 AlanWeihai
 Future Robot Co., Ltd.Weihai
 Future Robot Co., Ltd.View
 on vvlai.cnPreview
 by Yahoo

         From: Private via
 Personal_Submersibles
 <personal_submersibles at psubs.org>
  To: Personal
 Submersibles General Discussion
 <personal_submersibles at psubs.org> 
  Sent: Tuesday, June 3,
 2014 9:24 AM

 Subject: Re:
 [PSUBS-MAILIST] Manipulator arm

 ...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> 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>

 To: Personal Submersibles General Discussion <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> wrote:

 Scott,

 here is a link to the
 Schilling manipulator manuals.

 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> wrote:

 Thanks for the info
 Vance. I am starting to get a idea of some direction for a
 psubs manipulator.

 Thanks,

 Scott Waters

 Vance Bradley via Personal_Submersibles <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> 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> 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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