<html><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"></head><body><div>Cool. I am still in the research stage of an arm. I will eventually get there.</div><div>Thanks,</div><div>Scott</div><div><br></div><div><br></div><div><br></div><div><br></div><div><div style="font-size:75%;color:#575757">Sent from my U.S. Cellular© Smartphone</div></div> <br>hank pronk <hanker_20032000@yahoo.ca> wrote:<br><div style="color:#000; background-color:#fff; font-family:HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif;font-size:12pt"><div id="yiv8410047744"><div><div style="color: rgb(0, 0, 0); font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; font-size: 12pt; background-color: rgb(255, 255, 255);"><div id="yiv8410047744yui_3_13_0_ym1_8_1390829047040_5"><span>Scott,</span></div><div id="yiv8410047744yui_3_13_0_ym1_1_1390829047040_6724"><span id="yiv8410047744yui_3_13_0_ym1_1_1390829047040_6723">You can also pick up an old power seat from a car.  The seat has three or four motors in one housing that drives cables or little drive shafts.  Also you can use the linier actuators and slides.  that is how I made my first arm  a life time ago.</span></div><div><span>Hank  </span></div><div><span> </span></div><div class="yiv8410047744yahoo_quoted" id="yiv8410047744yui_3_13_0_ym1_8_1390829047040_6" style="display: block;"> <br clear="none"> <br clear="none"> <div class="yiv8410047744ms__id1072" style="font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; font-size: 12pt;"> <div class="yiv8410047744ms__id1073" style="font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; font-size: 12pt;"> <div class="yiv8410047744yqt8685761464" id="yiv8410047744yqt82505"><div dir="ltr"> <font face="Arial" size="2"> On Monday, January 27, 2014 5:58:01 AM, swaters <swaters@waters-ks.com> wrote:<br clear="none"> </font> </div>  <div class="yiv8410047744y_msg_container"><div id="yiv8410047744"><div><div>Oil compensated drill motor is a good idea. I have been trying to design a manipulator for Trustworthy. </div><div>Thanks,</div><div>Scott Waters</div><div><br clear="none"></div><div><br clear="none"></div><div><br clear="none"></div><div><br clear="none"></div><div><div style="color: rgb(87, 87, 87); font-size: 75%;">Sent from my U.S. Cellular© Smartphone</div></div> <br clear="none">Phil Nuytten <phil@philnuytten.com> wrote:<br clear="none">
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<div>There is no movement of the air pistons when they are not in use – that is, 
there is no air in the pistons once you exhaust the pressurization air back into 
the one atmosphere cabin. The pistons are then dead-headed until you energize 
them again. Note that this simple little system is designed to be used while the 
sub is on the bottom. I have used it up off bottom but it gets pretty busy 
maintaining position by VBT or upthrust and operating the manip valves at the 
same time.</div>
<div>If you really want to go ultracheap on an electric manip, buy a reversible 
dc electric drill, stick it in a thin walled tube, fill it with oil, set it on 
slow and use the rotation to operate a rack and pinion system which gives you a 
lineal movement like a piston  (run the rotary shaft through a camera case 
style o ring gland or an imperial tubing fitting or a  swagelock style 
compression fitting with an oring or teflon ring substitiuting for the 
compression olive or the metal compression ring)– rack and pinion all stay out 
side in the water. We built several of these to use with a small ROV and it 
worked OK – (also used two drill motors for propulsion  on the ROV!)</div>
<div>Phil</div>
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<div><b>From:</b> <a title="alanlindsayjames@yahoo.com" href="mailto:alanlindsayjames@yahoo.com" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:alanlindsayjames@yahoo.com">Alan James</a> </div>
<div><b>Sent:</b> Sunday, January 26, 2014 2:48 PM</div>
<div><b>To:</b> <a title="personal_submersibles@psubs.org" href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">Personal Submersibles General 
Discussion</a> </div>
<div><b>Subject:</b> Re: [PSUBS-MAILIST] Manipulators</div></div></div>
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<div><span>Thanks Phil, great system description.</span></div>
<div class="yiv8410047744ms__id1082" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>I 
tried Googling for the sea urchin manipulator but couldn't even find the Sea 
Urchin.</span></div>
<div class="yiv8410047744ms__id1083" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>Would 
appreciate seeing any pictures of it.</span></div>
<div class="yiv8410047744ms__id1084" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>One 
question. How do you counter the variations in pressure as you dive & 
ascend</span></div>
<div class="yiv8410047744ms__id1085" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>from 
causing the cylinders piston to move in & out or do you just live with 
this?</span></div>
<div class="yiv8410047744ms__id1086" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span style="background-color: transparent;">From the frustration I've heard from K 
boat builders through ambiguities in the plans,</span></div>
<div class="yiv8410047744ms__id1088" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>dangerous 
elements in the design (hard ballast tank) </span><span style="background-color: transparent;">& antiquated parts, it might be timely 
to </span></div>
<div class="yiv8410047744ms__id1090" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span style="background-color: transparent;">ditch the Kitrege plans & replace 
them.  But I might get shot for saying that.</span></div>
<div class="yiv8410047744ms__id1092" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span style="background-color: transparent;">Alan</span></div>
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<font face="Arial" size="2"><b><span style="font-weight: bold;">From:</span></b> Phil 
Nuytten <phil@philnuytten.com><br clear="none"><b><span style="font-weight: bold;">To:</span></b> Personal Submersibles General 
Discussion <personal_submersibles@psubs.org> <br clear="none"><b><span style="font-weight: bold;">Sent:</span></b> Monday, January 20, 2014 9:52 
AM<br clear="none"><b><span style="font-weight: bold;">Subject:</span></b> Re: [PSUBS-MAILIST] 
Manipulators<br clear="none"></font></div>
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<div>Yes, as Vance says we did work up a pneumatic manip for the original ‘Sea 
Urchin’ sub. The design criteria was: brute simple, three functions 
(extend/retract, swing 90 degrees each side/ jaw open/close) and, above all, 
CHEAP!! we used air cylinders, plastic tubing and three-way valves – one for 
each function. The valves exhausted back into the sub cabin. The system pressure 
was about 200 psi, as I recall, and the manip was operated independently from a 
scuba pony tank mounted outside for that purpose. System  pressure was kept 
at 200 psi over bottom, regardless of depth  by the first stage of a scuba 
regulator with the spring shimmed to 200 psi and the reg yoked to the tank in 
the usual fashion. Very simple system and it worked well – the exhaust into the 
cabin was so small as to cause only a slight increase in cabin pressure because 
the piston area is only a couple of square inches. Over pressure on a move into 
shallower water was avoided by a circle-seal non-return vent valve – same one 
used to suck a vacuum on the sub before diving. </div>
<div>I have some pretty good pictures of the manip on Sea Urchin which I’ll try 
to dig up and post. Speaking of Sea Urchin, I have often toyed with the the idea 
of putting out a  Sea Urchin Kit – ala Kitteridge - but don’t know how much 
interest there would be.</div>
<div>Phil</div>
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<div><b>From:</b> <a title="alanlindsayjames@yahoo.com" href="mailto:alanlindsayjames@yahoo.com" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:alanlindsayjames@yahoo.com">Alan James</a> </div>
<div><b>Sent:</b> Sunday, January 26, 2014 11:54 AM</div>
<div><b>To:</b> <a title="personal_submersibles@psubs.org" href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">Personal 
Submersibles General Discussion</a> </div>
<div><b>Subject:</b> Re: [PSUBS-MAILIST] Manipulators</div></div></div></div>
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<div><span>Here is a great looking manipulator for .31c US.</span></div>
<div class="yiv8410047744ms__id1109" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>Not 
sure what the postage is from Poland. I tried the "buy now" on another link but 
</span></div>
<div class="yiv8410047744ms__id1110" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>couldn't 
initiate a purchase. </span></div>
<div style="background-color: transparent;"><span><a href="http://http//robosklep.eu/sklep/pl/p/Hydraulic-Arm/231" target="_blank" rel="nofollow" shape="rect">http://http//robosklep.eu/sklep/pl/p/Hydraulic-Arm/231</a><br clear="none"></span></div>
<div class="yiv8410047744ms__id1112" style="color: rgb(0, 0, 0); font-family: helveticaneue,;">Alan</div>
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<font face="Arial" size="2"><b><span style="font-weight: bold;">From:</span></b> Alan 
James <alanlindsayjames@yahoo.com><br clear="none"><b><span style="font-weight: bold;">To:</span></b> Personal Submersibles General 
Discussion <personal_submersibles@psubs.org> <br clear="none"><b><span style="font-weight: bold;">Sent:</span></b> Saturday, January 25, 2014 1:20 PM<br clear="none"><b><span style="font-weight: bold;">Subject:</span></b> Re: 
[PSUBS-MAILIST] Manipulators<br clear="none"></font></div>
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<div><span>Thanks Vance,</span></div>
<div class="yiv8410047744ms__id1121" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>I'll 
have a look in to the pneumatic manipulator; however there are 
problems</span></div>
<div class="yiv8410047744ms__id1122" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>that 
come to mind, like how do you stop the whole unit going in & out like a 
concertina</span></div>
<div class="yiv8410047744ms__id1123" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>with 
water pressure changes.</span></div>
<div class="yiv8410047744ms__id1124" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>Alan</span></div>
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<font face="Arial" size="2"><b><span style="font-weight: bold;">From:</span></b> 
"vbra676539@aol.com" <vbra676539@aol.com><br clear="none"><b><span style="font-weight: bold;">To:</span></b> personal_submersibles@psubs.org <br clear="none"><b><span style="font-weight: bold;">Sent:</span></b> Saturday, January 
25, 2014 10:50 AM<br clear="none"><b><span style="font-weight: bold;">Subject:</span></b> Re: [PSUBS-MAILIST] 
Manipulators<br clear="none"></font></div>
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<div><font color="black" face="Arial, Helvetica, sans-serif" size="3"><font class="yiv8410047744Apple-style-span" size="3">I can't answer, as I have precisely 
zero experience with pneumo manips. Nuytco did in fact cook one up for the Sea 
Urchin, which seemed to work okay, but I don't know anything about it. Sorry. 
That said, if it's cheap and it works (even if it's a pain in the ass) then it's 
worth having. Subs should be able to DO something, not just cruise around like 
an oversized camera housing with motors. I'd give serious consideration to the 
ball and socket arm, which functions adequately down to about 600 feet 
(according to the boys who have used them). We figure one would cost about 
$500-600 USD to machine, plus material and welding. A thousand bucks or a little 
more isn't bad, considering there are exactly three moving parts in the whole 
thing (as opposed to a hydraulic system which has about 3 moving parts to the 
running inch).</font> </font>
<div><font class="yiv8410047744Apple-style-span" size="3">Vance<br clear="none"></font><br clear="none"><br clear="none">
<div class="yiv8410047744ms__id1133" style="color: black; font-family: helvetica, arial; font-size: 10pt;">-----Original 
Message-----<br clear="none">From: Alan <alanlindsayjames@yahoo.com><br clear="none">To: Personal Submersibles General Discussion 
<personal_submersibles@psubs.org><br clear="none">Sent: Fri, Jan 24, 2014 
3:12 pm<br clear="none">Subject: Re: [PSUBS-MAILIST] Manipulators<br clear="none"><br clear="none">
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<div>One more question Vance & I'll leave you in peace</div>
<div>for a week.</div>
<div>For a small non commercial submersible operating to 500 ft</div>
<div>that has a very limited use for a manipulator other than it being there 
</div>
<div>just in case we come across some item of value. Is a pneumatic manipulator 
a good</div>
<div>option? Air is already there & wouldn't be consumed much because</div>
<div>of the limited use. No noise & expensive space consuming hydraulic 
system.</div>
<div>And as you say there are options for lifting heavier items.</div>
<div>Thanks,</div>
<div>Alan</div>
<div><br clear="none">Sent from my iPad</div>
<div><br clear="none">On 25/01/2014, at 8:01 am, Joe Perkel <<a href="mailto:josephperkel@yahoo.com" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:josephperkel@yahoo.com">josephperkel@yahoo.com</a>> wrote:<br clear="none"><br clear="none"></div>
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  <table style="color: black;" border="0" cellspacing="0" cellpadding="0"><tbody><tr><td valign="top" rowspan="1" colspan="1">I particularly liked the PVC tube with the furled lift 
        bag and air source, now that's got real "get work done" utility.<br clear="none"><br clear="none">It seems to me that a permanently mounted air 
        source terminating just aft of the claw is a natural companion set-up 
        for anyone with a manipulator on a PSUB. <br clear="none"><br clear="none">Joe<a href="http://overview.mail.yahoo.com/?.src=iOS" target="_blank" rel="nofollow" shape="rect"><br clear="none"><br clear="none">Sent 
        from Yahoo Mail for iPad</a></td></tr></tbody></table>
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  <b><span style="font-weight: bold;">From:</span> </b>Alan James <<a href="mailto:alanlindsayjames@yahoo.com" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:alanlindsayjames@yahoo.com">alanlindsayjames@yahoo.com</a>>; 
  <br clear="none"><b><span style="font-weight: bold;">To:</span> </b>Personal 
  Submersibles General Discussion <<a href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>>; 
  <br clear="none"><b><span style="font-weight: bold;">Subject:</span> </b>Re: 
  [PSUBS-MAILIST] Manipulators <br clear="none"><b><span style="font-weight: bold;">Sent:</span> </b>Fri, Jan 24, 2014 6:09:42 PM <br clear="none"></div><br clear="none">
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        <div><span>Thanks Vance,</span></div>
        <div class="yiv8410047744ms__id1142" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>that's 
        shed some light on the subject.</span></div>
        <div class="yiv8410047744ms__id1143" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span>Alan</span></div>
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        <font face="Arial" size="2"><b><span style="font-weight: bold;">From:</span></b> Vance Bradley <<a href="mailto:Vbra676539@AOL.com" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:Vbra676539@AOL.com">Vbra676539@AOL.com</a>><br clear="none"><b><span style="font-weight: bold;">To:</span></b> Personal 
        Submersibles General Discussion <<a href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> 
        <br clear="none"><b><span style="font-weight: bold;">Sent:</span></b> 
        Saturday, January 25, 2014 5:42 AM<br clear="none"><b><span style="font-weight: bold;">Subject:</span></b> Re: [PSUBS-MAILIST] 
        Manipulators<br clear="none"></font></div>
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        <div>Alan,</div>
        <div>I've seen the discussion. The smallest sub I know of with a 
        manipulator on board is the Deepworker. No exfra tanks there. 
        Metacentric vs CG works in all directions. Yes, you get movement and no 
        it's not a problem in my experience. I did operate the bigger subs but 
        also smaller ones, to include Aquarius, briefly in a DW, plus three 
        different K-boats, so speak with some experience. You put everything you 
        imagine on a small sub, you get a big sub. In any case, It's probably 
        best to think of a psub as a work in progress. Get the boat done, go 
        play, scratch head, get more work done, go play, scratch head......and 
        so it goes.</div>
        <div>Vance</div>
        <div><br clear="none">Sent from my iPhone</div>
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        <div><br clear="none">On Jan 24, 2014, at 3:20 AM, Alan James <<a href="" rel="nofollow" shape="rect">alanlindsayjames@yahoo.com</a>> wrote:<br clear="none"><br clear="none"></div>
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          <div>Vance,</div>
          <div>a couple of people have mentioned lately the problem of the 
          shifting of</div>
          <div>balance as you reach out with a manipulator & have talked 
          about countering it with</div>
          <div>trim tanks. Is it a big deal if you go nose down, tail up? 
          Possibly more of a problem working on a </div>
          <div>vertical face than picking something up off the bottom. </div>
          <div>Some of our subs will be a lot smaller than <span style="font-size: 10pt;">the working </span><span style="font-size: 10pt;">subs you were in so the problem would be 
          </span></div>
          <div class="yiv8410047744ms__id1154" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span style="font-size: 10pt;">accentuated in our case.</span></div>
          <div class="yiv8410047744ms__id1156" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span style="font-size: 10pt;">Can you give us some of your experience on 
          this thanks & in your opinion is it worth messing</span></div>
          <div class="yiv8410047744ms__id1158" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span style="font-size: 10pt;">about with the trim while operating the 
          manipulator.</span></div>
          <div class="yiv8410047744ms__id1160" style="color: rgb(0, 0, 0); font-family: helveticaneue,;"><span style="font-size: 10pt; background-color: transparent;">Alan</span><br clear="none"></div>
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