[PSUBS-MAILIST] Manipulator arm

Fri May 30 05:19:27 EDT 2014

Hugh,
The wrist movement on Gamma is about 345 degrees and is accomplished with a single vane motor so to speak.  I did not build that arm, so I am not sure where that part came from.  I think it is a custom piece.  
Outside the wrist and hand, copying that arm is the way to go for psubbers.  That arm is very light and robust, also simple to build.  The hand could be replicated with two small 1 in bore cylinders instead of the way it is now.  Right now the hand and wrist are quite complicated to build for the average guy on a budget.  
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, 7:09 PM

 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
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