[PSUBS-MAILIST] PSUBS manipulator

[hank pronk via Personal_Submersibles]

 Alan,  The actuators have an over-ride mechanism so at the end of the stroke the motor free wheels.Also I found a way to drill oil or air passages to ensure all cavities including the rod thread area get filled.These actuators were meant to be on arms under water ;-)They are perfect, plus Alec changed my design a bit to allow for a less expensive, shorter stroke actuator to be used on the swing.  Also Alec has his air filled, so the motor performance should be unaffected.  So far I have had my arm working with David at 200 plus feet with no issues.  I noticed that Alecs arm sounds less smooth on air than my arm on oil.I would say if you can manage to have an air comp system, that would be better than oil.Hank
    On Tuesday, September 22, 2020, 3:23:32 PM MDT, Alan via Personal_Submersibles <personal_submersibles at psubs.org> wrote:  
 
 Alec & Hank,when I was compensating linear actuators ( a long time ago ) mine hadmicro switches in them that stopped the travel.I am not sure whether the Lenco has them or not!I was sticking a hot needle through the plastic housing of the micro switch tohelp compensate them, as it was pretty well sealed & I feared it would randomlybe switched because of the oil compensation pressure at depth.Also the brushed motors were sealed. This again may be a problem if the compensating oil hasn't fully filled the cavities inside the motor housing &suddenly experiences pressure as you descend. The small brushed motorscan have what Phil describes as a "herky jerky" action when oil compensateddue to the oil lifting the brushes off as they spin fast.Mentioning this in case you encounter problems operating them at depth!Alan
On 4/09/2020, at 9:59 AM, Alec Smyth via Personal_Submersibles <personal_submersibles at psubs.org> wrote:


Hi friends,
The PSUBS Community Projects page (http://www.psubs.org/community/projects/ ) now features an "open source manipulator" developed by Hank Pronk and me. This is an intentionally simple manipulator built using only a drill press and an angle grinder, except for a few plastic bushings that were turned on a lathe for expedience. We purposely avoided things like aluminum welding, to keep it's fabrication as accessible as possible. The page contains blueprints, photos, and a bill of materials - but I recommend beginning at the "Start Here" document in the ZIP file. Please don't hesitate to reach out if you have any questions, or if you have any suggested improvements.

Best,Alec

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