Design and experiments of a 11000m 7-function electric manipulator system

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Design and experiments of a 11000m 7-function electric manipulator system
	Bai YF(白云飞)1,2; Cui SG(崔胜国)2 ; Zhang YX(张运修)1,2 ; Zhang QF(张奇峰)2 ; Fan YL(范云龙)3 ; Wang HL(王海龙)2
	2018
会议日期	May 28-31, 2018
会议地点	Kobe, Japan
关键词	underwater vehicle electric manipulator electric linear cylinder wrist-clamp
页码	1-4
英文摘要	For operational requirements of the 11000m underwater vehicle which is small and medium-sized or is restricted by energy, a medium-load 7-function electric manipulator is developed. The manipulator is composed by parallel electric linear cylinder module, electric linear cylinder module, forearm rotate module and wrist-clamp module. The electric linear cylinders can offer large linear force and realize joint positioning control through rotating potentiometer, the forearm rotate module can output large torque and feedback the information of forearm joint position, and the wrist-clamp module can output continuous rotation and clamp movements without using conductive slip ring. The manipulator has a larger load capacity than that directly driven by the joint and can operate in 11000m deep-sea. The design and experiments of the manipulator are described in detail. © 2018 IEEE.
产权排序	1
会议录	OCEANS 2018 MTS/IEEE Kobe
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-1654-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24128]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Zhang QF(张奇峰); Fan YL(范云龙)
作者单位	1.University of Chinese Academy of Sciences, Beijing, China 2.Shenyang Institute of Automation, CAS, Shenyang, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式 GB/T 7714	Bai YF,Cui SG,Zhang YX,et al. Design and experiments of a 11000m 7-function electric manipulator system[C]. 见:. Kobe, Japan. May 28-31, 2018.