[PSUBS-MAILIST] Manipulator arm

[Alan James via Personal_Submersibles]

Thanks Sean, 
I think I've got it.
I've attached a couple of drawings; but they aren't showing the o-rings & oil channels in the rotary joints.
The dark green ring is attached to the body of the hydraulic motor & has the hydraulic lines attached for operating
the gripper.
The next silver ring is bolted to the motor's shaft & rotates with it, as does everything else left of it.
The next red section is the cylinder that encompasses the piston for gripper operation.
The last silver section is the cylinder end. There are through bolts to the first silver section.
One hydraulic line feeds in to an inner channel on the face of the first slip ring, which is encompassed by o-rings & feeds 
oil through to the right side of the hydraulic cylinder.
The next hydraulic line feeds in to the outer channel, which has a hole drilled horizontally through this slip ring & the length of the
red cylinder wall exiting in to the left end of the cylinder.
I'm sure there are lots of iterations you could come up with based on this.
Alan
 


________________________________
 From: Sean T. Stevenson via Personal_Submersibles <personal_submersibles at psubs.org>
To: Personal Submersibles General Discussion <personal_submersibles at psubs.org> 
Sent: Saturday, May 31, 2014 3:53 PM
Subject: Re: [PSUBS-MAILIST] Manipulator arm
 


Full continuous rotation isn't that complicated, other than one part which needs be machined with O-ring grooves, oil channels and a shaft connection (taper, spline or keyway).  Use a small hydraulic motor connected to the end of the arm, recessed into an outer slip ring.  The motor can be connected traditionally with hoses for supply and return.  The inner slip ring connects to the motor shaft and seals to the outer slip ring with o-rings.  For a wrist with only one function downstream (jaw open and close), you'll need three O-rings, creating two oil channels in between.   If you need more functions, just keep adding channels / o-rings.  If you secure the inner slip ring to the motor shaft with a nut, that central cavity in the inner slip ring can become the cylinder that operates the jaw - just drop a cap over it to seal it off from the motor shaft, and install a piston and outer cap.  Then plumbing the cylinder is as simple as drilling a hole
 through the inner slip ring, connecting each end of the cylinder cavity to its corresponding oil channel on the outside.

Sean


On 2014-05-30 20:21, Alan James via Personal_Submersibles wrote:


>
>
>All,
>would this idea for rotating the gripper have merit. (See attachment.)
>It is simple & can give 90 degrees + of rotation. (would you need more?)
>The piston pulls a bolt in a rod down an angled slot in a pipe, turning the rod & gripper.
>Ignore the gripper on the end, it's just for show & doesn't have a closing mechanism.
>Alan
>
>
>
>________________________________
> From: swaters via Personal_Submersibles <personal_submersibles at psubs.org>
>To: personal_submersibles at psubs.org 
>Sent: Friday, May 30, 2014 12:36 PM
>Subject: [PSUBS-MAILIST] Manipulator arm
> 
>
>
>Hank,
>That would be great. So on a four function would you have eight penetrations or four penetrations? My goal is to make a good and not to expensive (under $2000) manipulator arm for psub members.
>
>
>My address is:
>Scott Waters
>3213 Arnold Ave
>Bldg 122
>Salina, KS 67401
>
>
>Thank you,
>Scott Waters
>
>
>
>
>
>
>
>
>Sent from my U.S. Cellular© Smartphone
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