[PSUBS-MAILIST] Manipulator arm

Thu May 29 20:34:47 EDT 2014

Hugh,
I have started collecting info and and doing R&D on a psubs manipulator. The plan would be to have my wife make the parts on our Plasma Cam and sell it as a inexpensive kit. Hopefully I will have something by the 2015 psubs conference.
Thanks,
Scott Waters

Sent from my U.S. Cellular© SmartphoneHugh Fulton via Personal_Submersibles <personal_submersibles at psubs.org> wrote:Thanks Hank, great info. And the arms on your project page look pretty
smart.  What was the wrist movement and how is that accomplished.  Was it
continual rotation or 180 degree.
I see that Hydrolek uses a gerotor.  We need a Psubs project to do a manip.
Maybe a good subject for the next meeting.  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 9:25 a.m.
To: Personal Submersibles General Discussion
Subject: Re: [PSUBS-MAILIST] Manipulator arm

Hi Hugh,
The convertible top pumps are about the same size as a wind shield wiper
motor.  They are quite small actually.  I would say the motor is about 2.5in
dia and 6in tall.  They develop 1,000 psi, at least the one I tested did.  I
have only used GM pumps, but I am sure they are all the same more less. Also
I have had good success with a common snow plow hyd pump.  You will need a
hyd valve bank if you use the snow plow pump.  The beauty of a top pump is
that you do not need a valve bank. Gamma has an aircraft pump that according
to the maintenance records works best at 1,100 psi when at max depth of
1,000 feet.
That means you only need about 650psi above bottom for the arm to work.  I
have the pressure set at 500 psi for shop testing and it seems good already
at that pressure.  

Hank
--------------------------------------------
On Thu, 5/29/14, Hugh Fulton 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>
Received: Thursday, May 29, 2014, 4:36 PM

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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