[PSUBS-MAILIST] Manipulator arm

Fri May 30 13:28:56 EDT 2014

Great. Thanks Hank. The joy sticks are electric and not hydrolic valves right?
Thanks,
Scott Waters

Sent from my U.S. Cellular© Smartphonehank pronk via Personal_Submersibles <personal_submersibles at psubs.org> wrote:
Scott,
The arm is controlled with two joy sticks from, you guessed it ebay.  Also there are  two,two way toggle switches that control the hand and rotation. I would hate to pick up a gold bar and drop it because I bumped a joy stick. I can take a picture for you later today.
Hank --------------------------------------------
On Fri, 5/30/14, swaters 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: Friday, May 30, 2014, 11:40 AM

Hank,Do
you have any detailed pictures of the controller for the
manipulator? How is the controller arranged in the
submarine?Thanks,Scott
Waters

Sent
from my U.S. Cellular© Smartphone 
hank pronk via Personal_Submersibles
<personal_submersibles at psubs.org> wrote:
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

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    from my U.S. Cellular© Smartphone

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