Research and experiment on viscous friction power loss of deep-sea electric manipulator

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

	Research and experiment on viscous friction power loss of deep-sea electric manipulator
	Fan YL(范云龙)2 ; Zhang QF(张奇峰)2 ; Wang HL(王海龙)2; Bai YF(白云飞)1,2; Zhang AQ(张艾群)2
	2018
会议日期	May 28-31, 2018
会议地点	Kobe, Japan
关键词	deep-sea electric manipulator model of viscous power loss pressure test of oil-filled joint
页码	1-4
英文摘要	Deep-sea electric manipulator usually adopts internally oil-filled method, and the joint motors are soaked in the oil, so that the oil pressure and the water pressure outside will be basically balanced. However, due to the high pressure in deep sea, the oil viscosity increases, and the viscous frictional resistance will cause the viscous power loss of motor to become bigger. This paper establishes the theoretical model of viscous friction power loss and measures the viscous friction power loss of pitching joint motor and wrist-clamp module in oil-filled movement under the simulated pressure at different depths through pressure experiment. Meanwhile, the model parameter of viscous power loss is obtained by data fitting. Through the established model of viscous power loss, we can predict the viscous friction power loss of electric manipulator when it operates under water. At the same time, this model provides theoretical basis for dynamics modeling of deep-sea electric manipulator and trajectory optimization based on energy consumption. © 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/173321/24129]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Bai YF(白云飞)
作者单位	1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式 GB/T 7714	Fan YL,Zhang QF,Wang HL,et al. Research and experiment on viscous friction power loss of deep-sea electric manipulator[C]. 见:. Kobe, Japan. May 28-31, 2018.