[PSUBS-MAILIST] Manipulator arm
Alec Smyth via Personal_Submersibles
personal_submersibles at psubs.org
Mon Jun 2 22:06:28 EDT 2014
Oh wow, I think, even though electric we can go a little more heavy duty
than that. It looks like it was built of recycled parts from old IKEA desk
lamps!
On Mon, Jun 2, 2014 at 9:29 PM, Pete Niedermayr via Personal_Submersibles <
personal_submersibles at psubs.org> wrote:
>
> Mmmm sea cucumber sandwiches--------------------------------------------
> On Mon, 6/2/14, Alan James 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>
> Date: Monday, June 2, 2014, 4:16 PM
>
> Alec,here is just what you
> want.An lightweight underwater
> electric manipulator from China, complete with
> cameras& shopping basket for
> samples.I have seen other versions of
> this.
> Weihai Future Robot Co., Ltd.
> AlanWeihai
> Future Robot Co., Ltd.Weihai
> Future Robot Co., Ltd.View
> on vvlai.cnPreview
> by Yahoo
>
> From: Private via
> Personal_Submersibles
> <personal_submersibles at psubs.org>
> To: Personal
> Submersibles General Discussion
> <personal_submersibles at psubs.org>
> Sent: Tuesday, June 3,
> 2014 9:24 AM
>
> Subject: Re:
> [PSUBS-MAILIST] Manipulator arm
>
> ...and if it
> were me, electric rather than hydraulic. The reason is, itsy
> bitsy PSUBS might not have space for the pump, reservoir,
> valves, and whatever else hydraulics require, but we do all
> have batteries. I mean, in Snoopy small size drives my
> choices even of instruments. I can't see needing great
> lifting power, I'm happy to pick up a sea shell or
> clip a surfactant line onto something. The ideal setup for
> me would be a bolt-on manip requiring no gear at all in the
> sub except for one electrical penetrator to connect the
> thing to, and joystick(s) to control it with.
> Best,
> Alec
>
>
>
> On Jun 2, 2014,
> at 10:18 AM, via Personal_Submersibles <personal_submersibles at psubs.org>
> wrote:
>
>
> Scott,
>
>
>
>
> Looking at Schilling, etc., is instructive, but rather like
> watching those shows on cable television where young couples
> are trying to decide whether to buy a five hundred and
> eighty-five thousand dollar house or a six hundred and
> twenty-nine thousand dollar house, neither of which they can
> afford.
>
>
>
>
> What we really need
> (in my opinion) is something simpler. Think mobile gripper
> to start with. I know of a lightweight three-function
> pneumatic arm (shoulder left-right/up-down and gripper) that
> worked fine. It was designed to be easy on the pocketbook
> and simple to use/maintain. Valves, tubing, three pistons,
> some smallish diameter aluminum pipe, and a few brackets to
> build. Not a bad place to start.
>
>
>
>
> Vance
>
>
>
>
>
>
> -----Original
> Message-----
>
> From: swaters via Personal_Submersibles <personal_submersibles at psubs.org>
>
> To: Personal Submersibles General Discussion <
> personal_submersibles at psubs.org>
>
> Sent: Mon, Jun 2, 2014 9:26 am
>
> Subject: Re: [PSUBS-MAILIST] Manipulator arm
>
>
>
>
>
>
>
>
>
>
> Thanks Alan!
>
> -Scott Waters
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> Sent from my U.S.
> Cellular© Smartphone
>
>
>
> Alan via Personal_Submersibles <personal_submersibles at psubs.org> wrote:
>
>
> Scott,
>
> here is a link to the
> Schilling manipulator manuals.
>
> www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx
>
> Very scary. They are the
> rolls royce of manipulator.
>
> Usually near the end of
> these 500 page pdfs there
>
> are various gripper
> drawings with measurements
>
> that would be a good
> basis for gripper design.
>
> Alan
>
>
>
> Sent from my iPad
>
>
>
> On 2/06/2014, at 11:37 am, swaters via Personal_Submersibles
> <personal_submersibles at psubs.org> wrote:
>
>
>
>
>
>
> Thanks for the info
> Vance. I am starting to get a idea of some direction for a
> psubs manipulator.
>
> Thanks,
>
> Scott Waters
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
> Sent from my U.S.
> Cellular© Smartphone
>
>
>
> Vance Bradley via Personal_Submersibles <personal_submersibles at psubs.org>
> wrote:
>
> Hytorc makes a good line of robust, self-contained
> continuous duty pumps, most adjustable from 1500 to 10000
> psi. The.120 volt units we used had a universal motor so
> could be run on straight off the main buss. We set them up
> with an accumulator pre- charged to 1000 psi and a pressure
> switch set 1000 to 1500 psi. This supplied pressure to a
> double bank (6 each) of Parker-Hannifen solenoids controlled
> with their own 12 volt tap. Twelve solenoids gave us control
> for two manipulators, plus rudder and dive planes (with some
> variance depending on the sub). All of this was mounted
> internally. Eventually, perry went to external compensated
> pump/solenoid boxes for the manipulators, but by then the
> subs were up in the one point five to three million dollar
> range. The resultant increased budget and their growing
> experience with work class ROVs made that practical. All the
> later boats were set up with the external package, as far as
> I know.
>
> Vance
>
> Sent from my iPhone
>
>
>
> > On May 29, 2014, at 4:36 PM, Hugh Fulton via
> Personal_Submersibles <personal_submersibles at psubs.org> wrote:
>
> >
>
> > 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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