Design and experiments of a deep-sea five-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 deep-sea five-function electric manipulator system
	Fan YL(范云龙); Zhang QF(张奇峰); Zhang YX(张运修); Huo LQ(霍良青); Zhang ZY(张竺英); Chen ZE(陈质二)
	2016
会议名称	OCEANS 2016 - Shanghai
会议日期	April 10-13, 2016
会议地点	Shanghai, China
关键词	deep-sea electric manipulator electric linear cylinder wrist-clamp
页码	1-4
通讯作者	范云龙
中文摘要	The realization and key technology of a medium-load underwater electric manipulator is researched for the demand of the small and medium deep-sea underwater vehicle. The manipulator consists of electric linear cylinder module and wrist-clamp module. The linear cylinder can offer large linear force and displacement feedback to realize positioning control, 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 be used in 6000m deep-sea. The design and control experiments of the manipulator are described in detail.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	OCEANS 2016 - Shanghai
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	0197-7385
ISBN号	978-1-4673-9724-7
WOS记录号	WOS:000386521800078
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18774]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Fan YL,Zhang QF,Zhang YX,et al. Design and experiments of a deep-sea five-function electric manipulator system[C]. 见:OCEANS 2016 - Shanghai. Shanghai, China. April 10-13, 2016.