Sub-sea manipulators in use today are not capable to perform all desired work tasks needed in underwater intervention operations. Especially in deep sea operations manipulator systems have to comply with complex work tasks without any help of human divers. To meet this challenge a new manipulator with high accuracy and repeatability for sub-sea tasks is being developed. The manipulator consists of 6 hydraulically driven joints where each joint consists of a hydraulic precision motor, a servo valve, a harmonic drive gear unit and a resolver for position feedback. The communication between robot and operator is carried out in a PC-based control system with a graphical interface. The importance of designing and implementation of the high performance manipulator is emphasized. The design considerations and optimization of both mechanical and fluid power elements in the HIPRUM project are presented.
A high precision underwater manipulator
Ein hochpräziser Unterwassermanipulator
1999
8 Seiten, 9 Bilder, 6 Quellen
Conference paper
English