<html><body><div style="color:#000; background-color:#fff; font-family:HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif;font-size:10pt"><div id="yiv7609488111"><div><div style="color: rgb(0, 0, 0); font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida Grande', sans-serif; font-size: 10pt; background-color: rgb(255, 255, 255);"><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_4" style=""><span class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_15" style="">Hugh / Scott,</span></div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_4" style="color: rgb(0, 0, 0); font-size: 13.333333969116211px; font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida Grande', sans-serif; font-style: normal; background-color: transparent;"><span class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_18" style="">here is one of a few robotic arm
calculators I've come across.</span></div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_4" style="background-color:transparent;"><a rel="nofollow" shape="rect" class="yiv7609488111" id="yiv7609488111yui_3_16_0_1_1401391948679_10784" target="_blank" href="http://www.robotshop.com/blog/en/robot-arm-torque-calculator-9712">http://www.robotshop.com/blog/en/robot-arm-torque-calculator-9712</a><br clear="none"></div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">I guess it's a matter of horses for courses.</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">Where am I going to mount my manipulator?</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">How much reach do I want?</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">How many joints?</div><div class="yiv7609488111"
id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">What weight do I want to lift?</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">What size cylinder does the calculator indicate I'll need for each joint?</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">How big an oil reservoir do I need based on the internal capacity of all cylinders?</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">What & speed do I need the manipulator to move at?</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="">& what sized pump based on the above & operating depth.</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style=""> Then when you aren't happy with the results you try another scenario.<img id="yiv7609488111yui_3_16_0_8_1401391948679_57"
src="https://s.yimg.com/ok/u/assets/img/emoticons/emo2.gif" alt="*:( sad" style="font-size:10pt;"></div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style="color: rgb(0, 0, 0); font-size: 10pt; font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida Grande', sans-serif; font-style: normal; background-color: transparent;">Alan</div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style=""><br clear="none"></div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style=""><br clear="none"></div><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_14" style=""><br clear="none"></div> <div class="qtdSeparateBR"><br><br></div><div class="yiv7609488111yqt6850077146" id="yiv7609488111yqt16962"><div class="yiv7609488111" id="yiv7609488111yui_3_16_0_8_1401391948679_9" style="font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida
Grande', sans-serif; font-size: 10pt;"> <div class="yiv7609488111" id="yiv7609488111yui_3_16_0_1_1401391948679_10773" style="font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida Grande', sans-serif; font-size: 12pt;"> <div class="yiv7609488111" dir="ltr" id="yiv7609488111yui_3_16_0_1_1401391948679_10772" style=""> <hr class="yiv7609488111" id="yiv7609488111yui_3_16_0_1_1401391948679_10771" size="1" style=""> <font class="yiv7609488111" id="yiv7609488111yui_3_16_0_1_1401391948679_10774" size="2" face="Arial" style=""> <b class="yiv7609488111" style=""><span class="yiv7609488111" style="font-weight:bold;">From:</span></b> Hugh Fulton via Personal_Submersibles <personal_submersibles@psubs.org><br clear="none" class="yiv7609488111" style=""> <b class="yiv7609488111" style=""><span class="yiv7609488111" style="font-weight:bold;">To:</span></b> 'Personal Submersibles General Discussion' <personal_submersibles@psubs.org> <br
clear="none" class="yiv7609488111" style=""> <b class="yiv7609488111" style=""><span class="yiv7609488111" style="font-weight:bold;">Sent:</span></b> Friday, May 30, 2014 8:36 AM<br clear="none" class="yiv7609488111" style=""> <b class="yiv7609488111" style=""><span class="yiv7609488111" style="font-weight:bold;">Subject:</span></b> Re: [PSUBS-MAILIST] Manipulator arm<br clear="none" class="yiv7609488111" style="">
</font> </div> <div class="yiv7609488111" id="yiv7609488111yui_3_16_0_1_1401391948679_10775" style=""><br clear="none" class="yiv7609488111" style="">Hank,<br clear="none" class="yiv7609488111" style="">That seems like very good advice. I am wanting to do a manipulator but need<br clear="none" class="yiv7609488111" style="">to get some idea of what lifting or forces are required.<br clear="none" class="yiv7609488111" style="">What are the pumps you have found to work best. What pressure do they<br clear="none" class="yiv7609488111" style="">develop? I had no idea what a top pump was so googled it and came up with<br clear="none" class="yiv7609488111" style="">breast pumps!! I didn't want to make a tit of myself so chased down some<br clear="none" class="yiv7609488111" style="">more and found that they are for convertible cars. They look a bit on the<br clear="none" class="yiv7609488111" style="">large side diameter wise. Any brand
best? Cheers, Hugh <br clear="none" class="yiv7609488111" style=""><br clear="none" class="yiv7609488111" style=""><br clear="none" class="yiv7609488111" style="">-----Original Message-----<br clear="none" class="yiv7609488111" style="">From: Personal_Submersibles [mailto:<a rel="nofollow" shape="rect" class="yiv7609488111" ymailto="mailto:personal_submersibles-bounces@psubs.org" target="_blank" href="mailto:personal_submersibles-bounces@psubs.org" style="">personal_submersibles-bounces@psubs.org</a>]<br clear="none" class="yiv7609488111" style="">On Behalf Of hank pronk via Personal_Submersibles<br clear="none" class="yiv7609488111" style="">Sent: Friday, 30 May 2014 12:21 a.m.<br clear="none" class="yiv7609488111" style="">To: Personal Submersibles General Discussion<br clear="none" class="yiv7609488111" style="">Subject: Re: [PSUBS-MAILIST] Manipulator arm<br clear="none" class="yiv7609488111" style=""><br clear="none"
class="yiv7609488111" style="">Scott,<br clear="none" class="yiv7609488111" style="">No matter how you do it, a manipulator will cost some of money. I have made<br clear="none" class="yiv7609488111" style="">many and the tendency seems to be, to try and make them strong to lift a<br clear="none" class="yiv7609488111" style="">lot. Well first
off, I think it was Vance that said it best. A manipulator<br clear="none" class="yiv7609488111" style="">is for manipulating not lifting. With that in mind, large components are<br clear="none" class="yiv7609488111" style="">not needed. Simple air cylinders from ebay are all that is needed. A 2in<br clear="none" class="yiv7609488111" style="">bore and depending on manip design, 4in stroke, maybe as much as 6in stroke<br clear="none" class="yiv7609488111" style="">is all you need. Keep the rod size small at 5/8, that reduces the back<br clear="none" class="yiv7609488111" style="">pressure. I have said it before, I love convertible top pumps. Consider<br clear="none" class="yiv7609488111" style="">using one pump per function again purchase from ebay for 125 bucks. No need<br clear="none" class="yiv7609488111" style="">for valves, the pump simply runs in reverse to change direction of the<br
clear="none" class="yiv7609488111" style="">piston. Keep the pumps inside the sub and it is real simple. As
for the arm<br clear="none" class="yiv7609488111" style="">itself, if have made them from cardboard first. You can mock it up that way<br clear="none" class="yiv7609488111" style="">and find the best pin locations for the cylinders and ensure the cylinders<br clear="none" class="yiv7609488111" style="">stroke properly without over centering. You can build the arm with square<br clear="none" class="yiv7609488111" style="">tubing, use 3 inch aluminum so the cylinders fit inside when the arm is<br clear="none" class="yiv7609488111" style="">folded up. Forget about a wrist until you have lots of time to play around.<br clear="none" class="yiv7609488111" style="">Four functions will serve a psubber well and can be built for under 1,000<br clear="none" class="yiv7609488111" style="">dollars. I can send you a convertible top pump to play with if you like.<br clear="none" class="yiv7609488111" style="">Hank<br clear="none"
class="yiv7609488111" style="">--------------------------------------------<br clear="none" class="yiv7609488111" style="">On Wed, 5/28/14, swaters
via Personal_Submersibles<br clear="none" class="yiv7609488111" style=""><<a rel="nofollow" shape="rect" class="yiv7609488111" ymailto="mailto:personal_submersibles@psubs.org" target="_blank" href="mailto:personal_submersibles@psubs.org" style="">personal_submersibles@psubs.org</a>> wrote:<br clear="none" class="yiv7609488111" style=""><br clear="none" class="yiv7609488111" style=""> Subject: [PSUBS-MAILIST] Manipulator arm<br clear="none" class="yiv7609488111" style=""> To: <a rel="nofollow" shape="rect" class="yiv7609488111" ymailto="mailto:personal_submersibles@psubs.org" target="_blank" href="mailto:personal_submersibles@psubs.org" style="">personal_submersibles@psubs.org</a><br clear="none" class="yiv7609488111" style=""> Received: Wednesday, May 28, 2014, 9:31 PM<br clear="none" class="yiv7609488111" style=""> <br clear="none" class="yiv7609488111" style=""> Hey guys. I am<br clear="none" class="yiv7609488111" style=""> still working on the
manipulator arm project for the K boats. I am a<br clear="none" class="yiv7609488111" style="">little overwhelmed as to what direction to head. I really don't know where<br clear="none" class="yiv7609488111" style="">to start because of my lack of knolwedge. Does anyone have any pointers as<br clear="none" class="yiv7609488111" style="">to where to start? I am thinking about using electric motors rather than<br clear="none" class="yiv7609488111" style="">hydrolics just because of the amount of external operating<br clear="none" class="yiv7609488111" style="">peices. Thanks,Scott Waters<br clear="none" class="yiv7609488111" style=""> <br clear="none" class="yiv7609488111" style=""> <br clear="none" class="yiv7609488111" style=""> <br clear="none" class="yiv7609488111" style=""> Sent<br clear="none" class="yiv7609488111" style=""> from my U.S. Cellular© Smartphone<br clear="none" class="yiv7609488111"
style=""> <br clear="none" class="yiv7609488111" style=""> -----Inline Attachment Follows-----<br clear="none" class="yiv7609488111" style=""> <br clear="none" class="yiv7609488111" style=""> _______________________________________________<br clear="none" class="yiv7609488111" style=""> Personal_Submersibles mailing list<br clear="none" class="yiv7609488111" style=""> <a rel="nofollow" shape="rect" class="yiv7609488111" ymailto="mailto:Personal_Submersibles@psubs.org" target="_blank" href="mailto:Personal_Submersibles@psubs.org" style="">Personal_Submersibles@psubs.org</a><br clear="none" class="yiv7609488111" style=""> <a rel="nofollow" shape="rect" class="yiv7609488111" target="_blank" href="http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles" style="">http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles</a><br clear="none" class="yiv7609488111" style=""> <br clear="none" class="yiv7609488111" style=""><br clear="none"
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