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| Content Provider | Springer Nature Link |
|---|---|
| Author | Xiao, Zhi hu Xu, Guo hua Peng, Fu yuan Tang, Guo yuan Shen, Xiong Yang, Bo |
| Copyright Year | 2011 |
| Abstract | This paper describes an underwater 3500 m electric manipulator (named Huahai-4E, stands for four functions deep ocean electric manipulator in China), which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology (HUST) for a test bed of studying of deep ocean manipulation technologies. The manipulator features modular integration joints, and layered architecture control system. The oil-filled, pressure-compensated joint is compactly designed and integrated of a permanent magnet (PM) brushless motor, a drive circuit, a harmonic gear and an angular feedback potentiometer. The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control, task plan and target sensor respectively. They communicate through User Datagram Protocol (UDP) multicast communication in Vxworks OS. A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system. Furthermore, the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera. Autonomous grasp strategy based multi-sensor is studied. The results of watertight test in 40 MPa, joint’s efficiency test and autonomous grasp experiments in tank are also presented. |
| Starting Page | 159 |
| Ending Page | 168 |
| Page Count | 10 |
| File Format | |
| ISSN | 08905487 |
| Journal | China Ocean Engineering |
| Volume Number | 25 |
| Issue Number | 1 |
| Language | English |
| Publisher | Chinese Ocean Engineering Society |
| Publisher Date | 2011-04-02 |
| Publisher Place | Heidelberg |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | underwater electric manipulator deep ocean integration joints autonomous grasp Marine & Freshwater Sciences Offshore Engineering Numerical and Computational Physics Fluid- and Aerodynamics Oceanography Coastal Sciences |
| Content Type | Text |
| Resource Type | Article |
| Subject | Oceanography Ocean Engineering Renewable Energy, Sustainability and the Environment Mechanical Engineering |
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