Development of a full ocean depth hydraulic 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

	Development of a full ocean depth hydraulic manipulator system
	Chen YZ(陈言壮)1,2,3; Zhang QF(张奇峰)1,2; Feng XS(封锡盛)1,2; Huo LQ(霍良青)1,2; Tian QY(田启岩)1,2; Du LS(杜林森)1,2; Bai YF(白云飞)1,2,3; Wang C(王聪)1,2,3
	2019
会议日期	August 8-11, 2019
会议地点	Shenyang, China
关键词	Full ocean depth hydraulic manipulator Single-vane swing cylinder 11000 m pressure experiment
页码	250-263
英文摘要	This paper presents the development of a full ocean depth master-slave hydraulic manipulator system for marine engineering and research in the harsh hadal environment. Three basic modules of the slave arm including a linear cylinder, a single-vane swing cylinder, and a new wrist joint are designed. The electronic system and software are developed then. Laboratory experiments on the single-vane swing cylinder and the new wrist joint were carried out to verify the performance of new joints. Additionally, a 11000 m pressure experiment is conducted, and the results demonstrate that the full ocean depth hydraulic manipulator system works well in the 11000 m environment.
产权排序	1
会议录	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-030-27534-1
WOS记录号	WOS:000569253000024
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25493]
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)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 3.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Chen YZ,Zhang QF,Feng XS,et al. Development of a full ocean depth hydraulic manipulator system[C]. 见:. Shenyang, China. August 8-11, 2019.