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<DIV>Here it is:</DIV>
<DIV><A
href="http://www.sub-find.com/perry-1201-submarine.html">http://www.sub-find.com/perry-1201-submarine.html</A></DIV>
<DIV>Jim</DIV>
<DIV> </DIV>
<DIV>
<DIV>In a message dated 6/2/2014 8:08:56 P.M. Central Daylight Time,
personal_submersibles@psubs.org writes:</DIV>
<BLOCKQUOTE
style="PADDING-LEFT: 5px; MARGIN-LEFT: 5px; BORDER-LEFT: blue 2px solid"><FONT
style="BACKGROUND-COLOR: transparent" color=#000000 size=2 face=Arial>
<DIV
style="FONT-SIZE: 12pt; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; COLOR: #000; BACKGROUND-COLOR: #fff">
<DIV><SPAN>Vance,</SPAN></DIV>
<DIV
style="FONT-SIZE: 16px; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; COLOR: rgb(0,0,0); FONT-STYLE: normal; BACKGROUND-COLOR: transparent"><SPAN>The
Perry 1201 is for sale in Florida, I am sure you know that but the interesting
thing is the seller contact number is in the Vancouver area.</SPAN></DIV>
<DIV
style="FONT-SIZE: 16px; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; COLOR: rgb(0,0,0); FONT-STYLE: normal; BACKGROUND-COLOR: transparent"><SPAN>Hank</SPAN></DIV>
<DIV class=qtdSeparateBR><BR><BR></DIV>
<DIV class=yahoo_quoted style="DISPLAY: block">
<DIV
style="FONT-SIZE: 12pt; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif">
<DIV
style="FONT-SIZE: 12pt; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif">
<DIV dir=ltr><FONT size=2 face=Arial>On Monday, June 2, 2014 8:59:40 PM, via
Personal_Submersibles <personal_submersibles@psubs.org>
wrote:<BR></FONT></DIV><BR><BR>
<DIV class=y_msg_container>
<DIV id=yiv1032613439><FONT color=black size=3
face="Arial, Helvetica, sans-serif"><FONT class=yiv1032613439Apple-style-span
size=3>They were ALL built in house for the manned subs, as far as I
know.</FONT>
<DIV><FONT class=yiv1032613439Apple-style-span size=3>Vance<BR></FONT><BR><BR>
<DIV
style="FONT-SIZE: 10pt; FONT-FAMILY: helvetica, arial; COLOR: black">-----Original
Message-----<BR>From: swaters via Personal_Submersibles
<personal_submersibles@psubs.org><BR>To: Personal Submersibles General
Discussion <personal_submersibles@psubs.org><BR>Sent: Mon, Jun 2, 2014
5:36 pm<BR>Subject: Re: [PSUBS-MAILIST] Manipulator arm<BR><BR>
<DIV id=yiv1032613439AOLMsgPart_2_21d27775-b82c-4a23-8222-9c0ac5b819e6>
<DIV class=yiv1032613439aolReplacedBody>
<DIV>Ok. I have a feeling I will go through many revisions. Did Perry ever
build their own manipulators or were they always outsourced?</DIV>
<DIV>Thanks,</DIV>
<DIV>Scott Waters</DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV>
<DIV style="FONT-SIZE: 75%; COLOR: rgb(87,87,87)">Sent from my U.S. Cellular©
Smartphone</DIV></DIV><BR>via Personal_Submersibles <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>>
wrote:<BR><FONT color=black size=3 face="Arial, Helvetica, sans-serif"><FONT
class=yiv1032613439Apple-style-span size=3>Scott,</FONT>
<DIV><FONT class=yiv1032613439Apple-style-span size=3><BR></FONT>
<DIV><FONT class=yiv1032613439Apple-style-span size=3>I think it will be
simpler than that, even. All done by valves in the pneumatic version.
Purely mechanical and air. Then an upgrade could be made to hydraulics with
the same system if someone wanted. I should have some drawings for you by
Bellingham. Maybe sooner if I can find my pencils.</FONT></DIV>
<DIV><FONT class=yiv1032613439Apple-style-span size=3><BR></FONT></DIV>
<DIV><FONT class=yiv1032613439Apple-style-span size=3>Vance<BR></FONT><BR><BR>
<DIV
style="FONT-SIZE: 10pt; FONT-FAMILY: helvetica, arial; COLOR: black">-----Original
Message-----<BR>From: hank pronk via Personal_Submersibles <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>><BR>To:
Personal Submersibles General Discussion <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>><BR>Sent:
Mon, Jun 2, 2014 5:21 pm<BR>Subject: Re: [PSUBS-MAILIST] Manipulator
arm<BR><BR>
<DIV id=yiv1032613439AOLMsgPart_2_90af1dd8-f491-460c-8054-aa67cb0dc857>
<DIV class=yiv1032613439aolReplacedBody>
<DIV
style="FONT-SIZE: 12pt; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; COLOR: rgb(0,0,0); BACKGROUND-COLOR: rgb(255,255,255)">
<DIV><SPAN>Scott,</SPAN></DIV>
<DIV
style="FONT-SIZE: 16px; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; COLOR: rgb(0,0,0); FONT-STYLE: normal; BACKGROUND-COLOR: transparent"><SPAN>You
may have an opportunity here. You can offer an arm in pneumatic or
hydraulic. The arm will be exactly the same, just install hyd valves
instead of air valves. Brilliant! Even the same wiring harness
will work. More brilliant! :-)</SPAN></DIV>
<DIV
style="FONT-SIZE: 16px; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; COLOR: rgb(0,0,0); FONT-STYLE: normal; BACKGROUND-COLOR: transparent"><SPAN>Hank</SPAN></DIV>
<DIV class=yiv1032613439qtdSeparateBR><BR><BR></DIV>
<DIV class=yiv1032613439yahoo_quoted style="DISPLAY: block">
<DIV
style="FONT-SIZE: 12pt; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif">
<DIV
style="FONT-SIZE: 12pt; FONT-FAMILY: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif">
<DIV dir=ltr><FONT size=2 face=Arial>On Monday, June 2, 2014 4:43:35 PM, via
Personal_Submersibles <<A title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>>
wrote:<BR></FONT></DIV><BR><BR>
<DIV class=yiv1032613439y_msg_container>
<DIV id=yiv1032613439><FONT color=black size=3
face="Arial, Helvetica, sans-serif"><FONT class=yiv1032613439Apple-style-span
size=3>Scott,</FONT>
<DIV><FONT class=yiv1032613439Apple-style-span size=3><BR></FONT></DIV>
<DIV><FONT class=yiv1032613439Apple-style-span size=3>I don't, as it happens,
but I could do a sketch. Meanwhile, I'll inquire about the possibility of
doing a little cloning project on the real thing.</FONT></DIV>
<DIV><FONT class=yiv1032613439Apple-style-span size=3><BR></FONT></DIV>
<DIV><FONT class=yiv1032613439Apple-style-span size=3>Vance<BR></FONT><BR><BR>
<DIV
style="FONT-SIZE: 10pt; FONT-FAMILY: helvetica, arial; COLOR: black">-----Original
Message-----<BR>From: swaters via Personal_Submersibles <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>><BR>To:
Personal Submersibles General Discussion <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>><BR>Sent:
Mon, Jun 2, 2014 2:15 pm<BR>Subject: Re: [PSUBS-MAILIST] Manipulator
arm<BR><BR>
<DIV id=yiv1032613439AOLMsgPart_2_5f62f15a-3ce7-4f10-b94d-33f251959281>
<DIV class=yiv1032613439aolReplacedBody>
<DIV>Vance,</DIV>
<DIV>Do you have any pictures of it?</DIV>
<DIV>Thanks,</DIV>
<DIV>Scott Waters</DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV>
<DIV style="FONT-SIZE: 75%; COLOR: rgb(87,87,87)">Sent from my U.S. Cellular©
Smartphone</DIV></DIV><BR>via Personal_Submersibles <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>>
wrote:<BR><FONT color=black size=3 face="Arial, Helvetica, sans-serif"><FONT
class=yiv1032613439Apple-style-span size=3>
<DIV><FONT class=yiv1032613439Apple-style-span size=3>Scott,</FONT></DIV>
<DIV><FONT class=yiv1032613439Apple-style-span size=3><BR></FONT></DIV>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.</FONT>
<DIV><FONT class=yiv1032613439Apple-style-span size=3><BR></FONT></DIV>
<DIV><FONT class=yiv1032613439Apple-style-span size=3>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.</FONT></DIV>
<DIV><FONT class=yiv1032613439Apple-style-span size=3><BR></FONT>
<DIV><FONT class=yiv1032613439Apple-style-span
size=3>Vance <BR></FONT><BR><BR>
<DIV
style="FONT-SIZE: 10pt; FONT-FAMILY: helvetica, arial; COLOR: black">-----Original
Message-----<BR>From: swaters via Personal_Submersibles <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>><BR>To:
Personal Submersibles General Discussion <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>><BR>Sent:
Mon, Jun 2, 2014 9:26 am<BR>Subject: Re: [PSUBS-MAILIST] Manipulator
arm<BR><BR>
<DIV id=yiv1032613439AOLMsgPart_2_1fd8353d-3c22-457c-8af5-160ee81a9260>
<DIV class=yiv1032613439aolReplacedBody>
<DIV>Thanks Alan!</DIV>
<DIV>-Scott Waters</DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV>
<DIV style="FONT-SIZE: 75%; COLOR: rgb(87,87,87)">Sent from my U.S. Cellular©
Smartphone</DIV></DIV><BR>Alan via Personal_Submersibles <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>>
wrote:<BR>
<DIV>Scott,</DIV>
<DIV>here is a link to the Schilling manipulator manuals.</DIV>
<DIV><SPAN><A
title=http://www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx
href="http://www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx"
rel=nofollow
target=_blank>www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx</A></SPAN></DIV>
<DIV><SPAN>Very scary. They are the rolls royce of manipulator.</SPAN></DIV>
<DIV>Usually near the end of these 500 page pdfs there</DIV>
<DIV>are various gripper drawings with measurements</DIV>
<DIV>that would be a good basis for gripper design.</DIV>
<DIV>Alan</DIV>
<DIV><BR>Sent from my iPad</DIV>
<DIV><BR>On 2/06/2014, at 11:37 am, swaters via Personal_Submersibles <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>>
wrote:<BR><BR></DIV>
<BLOCKQUOTE type="cite">
<DIV>
<DIV>Thanks for the info Vance. I am starting to get a idea of some
direction for a psubs manipulator.</DIV>
<DIV>Thanks,</DIV>
<DIV>Scott Waters</DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV><BR></DIV>
<DIV>
<DIV style="FONT-SIZE: 75%; COLOR: rgb(87,87,87)">Sent from my U.S.
Cellular© Smartphone</DIV></DIV><BR>Vance Bradley via Personal_Submersibles
<<A title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>>
wrote:<BR>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.<BR>Vance<BR>Sent from my iPhone<BR><BR>> On May 29, 2014, at 4:36
PM, Hugh Fulton via Personal_Submersibles <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>>
wrote:<BR>> <BR>> Hank,<BR>> That seems like very good
advice. I am wanting to do a manipulator but need<BR>> to get some
idea of what lifting or forces are required.<BR>> What are the pumps you
have found to work best. What pressure do they<BR>> develop? I had
no idea what a top pump was so googled it and came up with<BR>> breast
pumps!! I didn't want to make a tit of myself so chased down some<BR>>
more and found that they are for convertible cars. They look a bit on
the<BR>> large side diameter wise. Any brand best?
Cheers, Hugh <BR>> <BR>> <BR>> -----Original
Message-----<BR>> From: Personal_Submersibles [<A
title=mailto:personal_submersibles-bounces@psubs.org
href="mailto:personal_submersibles-bounces@psubs.org" rel=nofollow
target=_blank
ymailto="mailto:personal_submersibles-bounces@psubs.org">mailto:personal_submersibles-bounces@psubs.org</A>]<BR>>
On Behalf Of hank pronk via Personal_Submersibles<BR>> Sent: Friday, 30
May 2014 12:21 a.m.<BR>> To: Personal Submersibles General
Discussion<BR>> Subject: Re: [PSUBS-MAILIST] Manipulator arm<BR>>
<BR>> Scott,<BR>> No matter how you do it, a manipulator will cost
some of money. I have made<BR>> many and the tendency seems to be,
to try and make them strong to lift a<BR>> lot. Well first off, I
think it was Vance that said it best. A manipulator<BR>> is for
manipulating not lifting. With that in mind, large components
are<BR>> not needed. Simple air cylinders from ebay are all
that is needed. A 2in<BR>> bore and depending on manip design, 4in
stroke, maybe as much as 6in stroke<BR>> is all you need. Keep the
rod size small at 5/8, that reduces the back<BR>> pressure. I have
said it before, I love convertible top pumps. Consider<BR>> using
one pump per function again purchase from ebay for 125 bucks. No
need<BR>> for valves, the pump simply runs in reverse to change direction
of the<BR>> piston. Keep the pumps inside the sub and it is real
simple. As for the arm<BR>> itself, if have made them from
cardboard first. You can mock it up that way<BR>> and find the best
pin locations for the cylinders and ensure the cylinders<BR>>
stroke properly without over centering. You can build the arm with
square<BR>> tubing, use 3 inch aluminum so the cylinders fit inside when
the arm is<BR>> folded up. Forget about a wrist until you have lots
of time to play around.<BR>> Four functions will serve a psubber well and
can be built for under 1,000<BR>> dollars. I can send you a convertible
top pump to play with if you like.<BR>> Hank<BR>>
--------------------------------------------<BR>> On Wed, 5/28/14,
swaters via Personal_Submersibles<BR>> <<A
title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A>>
wrote:<BR>> <BR>> Subject: [PSUBS-MAILIST] Manipulator arm<BR>> To:
<A title=mailto:personal_submersibles@psubs.org
href="mailto:personal_submersibles@psubs.org" rel=nofollow target=_blank
ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</A><BR>>
Received: Wednesday, May 28, 2014, 9:31 PM<BR>> <BR>> Hey guys. I
am<BR>> still working on the manipulator arm project for the K
boats. I am a<BR>> little overwhelmed as to what direction to head.
I really don't know where<BR>> to start because of my lack of
knolwedge. Does anyone have any pointers as<BR>> to where to start?
I am thinking about using electric motors rather than<BR>>
hydrolics just because of the amount of external operating<BR>>
peices. Thanks,Scott Waters<BR>> <BR>> <BR>> <BR>>
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