[PSUBS-MAILIST] Manipulator arm

Fri May 30 11:40:32 EDT 2014

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© Smartphonehank 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

  Sent
  from my U.S. Cellular© Smartphone

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