Modeling and Experimental Validation of the Hydraulic Power Source for Deep-sea 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

	Modeling and Experimental Validation of the Hydraulic Power Source for Deep-sea Manipulator
	Du LS(杜林森); Zhang YX(张运修); Huo LQ(霍良青); Zhang QF(张奇峰); Tian QY(田启岩); Sun J(孙洁)
	2017
会议名称	OCEANS 2017 MTS/IEEE Anchorage
会议日期	September 18-21, 2017
会议地点	Anchorage, USA
关键词	Deep-sea manipulator Hydraulic power source Pressure control variable displacement pump Mathematical and simulation modeling
页码	1-6
通讯作者	Tian QY(田启岩)
中文摘要	Deep-sea hydraulic manipulator is an essential operation equipment for scientific investigation and resource exploitation. To improve the efficiency of hydraulic power source for manipulator in the presence of load variations, a pressure control variable displacement pump (PCVDP) is used to respond quickly to dynamic demands of multiple loads. Considering the variations of seawater properties at different ocean depths, especially high hydrostatic pressure in deep-sea environment will make the kinematic viscosity of oil obviously increased, which has a significant influence on the performance of PCVDP, the mathematical model is established and related simulations are conducted to analyze the different viscosities against varying depths affecting the dynamic characteristics and performance of PCVDP. The experiment results based on a hydraulic manipulator platform validate the simulation model accuracy, which makes it instructive to deep-sea manipulator design and system parameter matching at any ocean depth.
收录类别	EI
产权排序	1
会议录	OCEANS 2017 MTS/IEEE Anchorage
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-0-692-94690-9
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21290]
专题	沈阳自动化研究所_水下机器人研究室
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	Du LS,Zhang YX,Huo LQ,et al. Modeling and Experimental Validation of the Hydraulic Power Source for Deep-sea Manipulator[C]. 见:OCEANS 2017 MTS/IEEE Anchorage. Anchorage, USA. September 18-21, 2017.