[PSUBS-MAILIST] Manipulator arm

Tue Jun 3 19:34:10 EDT 2014

Alec,
maybe a hybrid pneumatic / electric manipulator would be the answer.
Rotating the gripper would need very little power, so perhaps a small electric
motor & a worm gear (for holding ), driving a shaft that is substantial enough for the lateral loads.
If anyone sees an off the shelf version of this, let me know, thanks.
This could be packaged in an air compensated housing. My thruster air compensation tubing has the electric
wires running through it, so it's economical on space.
I think the electric linear actuators are a lot of hard work & a couple of pneumatic cylinders would be better.
That  manipulator I posted must have the sea cucumber population in turmoil.
Regards Alan

________________________________
 From: Alec Smyth via Personal_Submersibles <personal_submersibles at psubs.org>
To: Personal Submersibles General Discussion <personal_submersibles at psubs.org> 
Sent: Tuesday, June 3, 2014 2:06 PM
Subject: Re: [PSUBS-MAILIST] Manipulator arm

Oh wow, I think, even though electric we can go a little more heavy duty than that. It looks like it was built of recycled parts from old IKEA desk lamps!  

On Mon, Jun 2, 2014 at 9:29 PM, Pete Niedermayr via Personal_Submersibles <personal_submersibles at psubs.org> wrote:

>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
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> Sent from my U.S.
> Cellular© Smartphone
>
>
>
> 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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