Performance and experiment of deep-sea master-slave servo electric manipulator

Bai, Yang; Zhang, Qifeng; Tian, Qiyan; Yan, Shuxue; Tang, Yuangui; Zhang, Aiqun

doi:10.23919/oceans40490.2019.8962582

Cited by 6 publications

(5 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Even a small viscous friction moment will significantly reduce the joint output efficiency. Previous studies and experiments by the research group [9], [10] showed that the viscous friction power of the oil-filled joint accounts for a large part of the output power of the motor and that it increases exponentially with the increase in oil viscosity. Therefore, viscous power modeling and optimization of deep-sea electric manipulators are of great significance and are nonnegligible components of deep-sea electric manipulator dynamics modeling [11], [12].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Optimization of Compensating Oil Viscous Power for a Deep-Sea Electric Manipulator

Bai

Zhang

2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

The dynamic performance and load capacity of a deep-sea electric manipulator are obviously affected by the viscous resistance of compensating oil. However, the complex geometric clearance of the oil-filled joint of the manipulator makes it difficult for existing theoretical models to accurately model this problem. Based on the existing theoretical models, a viscous power model considering the influence of the surface grooves of the rotor and stator is proposed. To reduce the viscous power loss, an optimization method for the clearance geometry is proposed. This optimization method is carried out by filling the surface grooves of the motor rotor and stator with epoxy resin. This method makes the clearance geometry of the compensated oil more regular. The modified model and optimization method are validated by designing an experimental installation and method. The experimental results demonstrate the accuracy and effectiveness of the modified theoretical model and optimization method.INDEX TERMS Compensating oil viscous power, deep-sea electric manipulator, modified modeling, viscous power experiment, viscous power optimization.

show abstract

Section: Introductionmentioning

confidence: 99%

Modeling and Optimization of Compensating Oil Viscous Power for a Deep-Sea Electric Manipulator

Bai

Zhang

2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…Complex and bent hydraulic pipelines further exacerbate the energy loss of the system [11,12]. In recent years, with the development of power electronics technology, pure electric equipment has attracted the attention and favor of researchers because of its superior dynamic, energy consumption characteristics and simple power transmission characteristics [13,14]. Concurrently, in recent years, numerous scholars have undertaken research into the diverse shipborne equipment of helicopter traction systems, encompassing aspects such as aerodynamics [15][16][17][18], multibody dynamics [19][20][21], system reliability [22], and path planning [23,24].…”

Section: Introductionmentioning

confidence: 99%

Research into a Marine Helicopter Traction System and Its Dynamic Energy Consumption Characteristics

Jia,

Shao,

Liu

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

As countries attach great importance to the ocean-going navigation capability of ships, the energy consumption of shipborne equipment has attracted much attention. Although energy consumption analysis is a guiding method to improve energy efficiency, it often ignores the dynamic characteristics of the system. However, the traditional dynamic analysis method hardly considers the energy consumption characteristics of the system. In this paper, a new type of electric-driven helicopter traction system is designed based on the ASIST system. Combined with power bond graph theory, a system dynamic modeling method that considers both dynamic and energy consumption characteristics is proposed, and simulation analysis is carried out. The results indicate that the designed traction system in this study displays high responsiveness, robust, steady-state characteristics, and superior energy efficiency. When it engages with helicopter-borne aircraft, it swiftly transitions to a stable state within 0.2 s while preserving an efficient speed tracking effect under substantial load force, and no significant fluctuations are detected in the motor rotation rate or the helicopter movement velocity. Moreover, it presents a high energy utilization rate, achieving an impressive energy utilization rate of 84% per single working cycle. Simultaneously, the proposed modeling methodology is validated as sound and effective, particularly apt for the dynamic and power consumption analysis of marine complex machinery systems, guiding the high-efficiency design of the transmission system.

show abstract

“…This deep-sea manipulator has been attached to the Haidou I underwater robot to complete many intervention tasks on the seabed of the Mariana Trench and has been used to complete intervention at depths of more than 10,000 m for the first time in the world. However, as the designer of this deep-sea electric manipulator, we know only its basic performance indicators [8], and there is no way to quantitatively evaluate its dexterity. In terms of the dexterity evaluation of the manipulator, current research mainly focuses on the dexterity of industrial robots [9][10][11], and there are few related studies on the dexterity of deep-sea manipulators [12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Dexterity Based Viscous Resistance Optimization of a Deep-Sea Manipulator

Bai

Zhang

2022

JMSE

Self Cite

View full text Add to dashboard Cite

With persistent ocean exploration, the complexity of deep-sea intervention is gradually increasing. The deep-sea manipulator is the primary tool to complete complex intervention. The manipulator dexterity determines the complexity of the task it can perform. First, a dynamic dexterity evaluation method is proposed based on the kinematics and dynamics characteristics of the deep-sea manipulator. This method takes into account the dynamic torque boundary and Jacobian mapping constraint, which are different from terrestrial manipulators. The concepts of the dynamic dexterity ellipsoid and dynamic dexterity measure are defined. Second, the effect of viscosity resistance on dexterity is analyzed. The viscosity resistance is optimized by selecting the most suitable compensation oil. Finally, the methods of dynamic dexterity evaluation and viscosity resistance optimization are verified by a simulated deep-sea experiment. The method proposed in this paper effectively improves the dynamic dexterity of the deep-sea manipulator by optimizing the viscosity resistance. The proposed method can also be used to evaluate and improve the dexterity of other underwater manipulators.

show abstract

Performance and experiment of deep-sea master-slave servo electric manipulator

Cited by 6 publications

References 10 publications

Modeling and Optimization of Compensating Oil Viscous Power for a Deep-Sea Electric Manipulator

Modeling and Optimization of Compensating Oil Viscous Power for a Deep-Sea Electric Manipulator

Research into a Marine Helicopter Traction System and Its Dynamic Energy Consumption Characteristics

Dexterity Based Viscous Resistance Optimization of a Deep-Sea Manipulator

Contact Info

Product

Resources

About