<html><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"></head><body><div>Hank,</div><div>Do you have any detailed pictures of the controller for the manipulator? How is the controller arranged in the submarine?</div><div>Thanks,</div><div>Scott Waters</div><div><br></div><div><br></div><div><br></div><div><br></div><div><div style="font-size:75%;color:#575757">Sent from my U.S. Cellular© Smartphone</div></div> <br>hank pronk via Personal_Submersibles <personal_submersibles@psubs.org> wrote:<br>Hugh,<br>The wrist movement on Gamma is about 345 degrees and is accomplished with a single vane motor so to speak. I did not build that arm, so I am not sure where that part came from. I think it is a custom piece. <br>Outside the wrist and hand, copying that arm is the way to go for psubbers. That arm is very light and robust, also simple to build. The hand could be replicated with two small 1 in bore cylinders instead of the way it is now. Right now the hand and wrist are quite complicated to build for the average guy on a budget. <br>Hank<br>--------------------------------------------<br>On Thu, 5/29/14, Hugh Fulton via Personal_Submersibles <personal_submersibles@psubs.org> wrote:<br><br> Subject: Re: [PSUBS-MAILIST] Manipulator arm<br> To: "'Personal Submersibles General Discussion'" <personal_submersibles@psubs.org><br> Received: Thursday, May 29, 2014, 7:09 PM<br> <br> Thanks Hank, great info. And the arms<br> on your project page look pretty<br> smart. What was the wrist movement and how is that<br> accomplished. Was it<br> continual rotation or 180 degree.<br> I see that Hydrolek uses a gerotor. We need a Psubs<br> project to do a manip.<br> Maybe a good subject for the next meeting. <br> Cheers, Hugh <br> <br> <br> <br> -----Original Message-----<br> From: Personal_Submersibles [mailto:personal_submersibles-bounces@psubs.org]<br> On Behalf Of hank pronk via Personal_Submersibles<br> Sent: Friday, 30 May 2014 9:25 a.m.<br> To: Personal Submersibles General Discussion<br> Subject: Re: [PSUBS-MAILIST] Manipulator arm<br> <br> Hi Hugh,<br> The convertible top pumps are about the same size as a wind<br> shield wiper<br> motor. They are quite small actually. I would<br> say the motor is about 2.5in<br> dia and 6in tall. They develop 1,000 psi, at least the<br> one I tested did. I<br> have only used GM pumps, but I am sure they are all the same<br> more less. Also<br> I have had good success with a common snow plow hyd<br> pump. You will need a<br> hyd valve bank if you use the snow plow pump. The<br> beauty of a top pump is<br> that you do not need a valve bank. Gamma has an aircraft<br> pump that according<br> to the maintenance records works best at 1,100 psi when at<br> max depth of<br> 1,000 feet.<br> That means you only need about 650psi above bottom for the<br> arm to work. I<br> have the pressure set at 500 psi for shop testing and it<br> seems good already<br> at that pressure. <br> <br> Hank<br> --------------------------------------------<br> On Thu, 5/29/14, Hugh Fulton via Personal_Submersibles<br> <personal_submersibles@psubs.org><br> wrote:<br> <br> Subject: Re: [PSUBS-MAILIST] Manipulator arm<br> To: "'Personal Submersibles General Discussion'"<br> <personal_submersibles@psubs.org><br> Received: Thursday, May 29, 2014, 4:36 PM<br> <br> Hank,<br> That seems like very good advice. I am wanting to do<br> a manipulator but<br> need to get some idea of what lifting or forces are<br> required.<br> What are the pumps you have found to work best. <br> What pressure do they<br> develop? I had no idea what a top pump was so googled it<br> and came up with<br> breast pumps!! I didn't want to make a tit of myself<br> so chased down some<br> more and found that they are for convertible cars. They<br> look a bit on the<br> large side diameter wise. Any brand best? Cheers, <br> Hugh <br> <br> <br> -----Original Message-----<br> From: Personal_Submersibles<br> [mailto:personal_submersibles-bounces@psubs.org]<br> On Behalf Of hank pronk via Personal_Submersibles<br> Sent: Friday, 30 May 2014 12:21 a.m.<br> To: Personal Submersibles General Discussion<br> Subject: Re: [PSUBS-MAILIST] Manipulator arm<br> <br> Scott,<br> No matter how you do it, a manipulator will cost some<br> of money. I have<br> made many and the tendency seems to be, to try and<br> make them strong to<br> lift a lot. Well first off, I think it was Vance<br> that said it best. A<br> manipulator is for manipulating not lifting. With<br> that in mind, large<br> components are not needed. Simple air cylinders from<br> ebay are all that is<br> needed. A 2in bore and depending on manip design,<br> 4in stroke, maybe as<br> much as 6in stroke is all you need. Keep the rod<br> size small at 5/8, that<br> reduces the back pressure. I have said it before, I<br> love convertible top<br> pumps. Consider using one pump per function again<br> purchase from ebay for<br> 125 bucks. No need for valves, the pump simply<br> runs in reverse to change<br> direction of the piston. Keep the pumps inside the sub<br> and it is real<br> simple. As for the arm itself, if have made them<br> from cardboard first. <br> You can mock it up that way and find the best<br> pin locations for the<br> cylinders and ensure the cylinders stroke<br> properly without over<br> centering. You can build the arm with square <br> tubing, use 3 inch aluminum<br> so the cylinders fit inside when the arm is <br> folded up. Forget about a<br> wrist until you have lots of time to play around.<br> Four functions will serve a psubber well and can be<br> built for under 1,000<br> dollars. I can send you a convertible top pump to play<br> with if you like.<br> Hank<br> --------------------------------------------<br> On Wed, 5/28/14, swaters via Personal_Submersibles<br> <personal_submersibles@psubs.org><br> wrote:<br> <br> Subject: [PSUBS-MAILIST] Manipulator arm<br> To: personal_submersibles@psubs.org<br> Received: Wednesday, May 28, 2014, 9:31 PM<br> <br> Hey guys. I am<br> still working on the manipulator arm project for<br> the K boats. I am a<br> little overwhelmed as to what direction to head. I <br> really don't know where<br> to start because of my lack of knolwedge. Does<br> anyone have any pointers as<br> to where to start? I am thinking about using<br> electric motors rather than<br> hydrolics just because of the amount of external <br> operating<br> peices. Thanks,Scott Waters<br> <br> <br> <br> Sent<br> from my U.S. Cellular© Smartphone<br> <br> -----Inline Attachment Follows-----<br> <br> _______________________________________________<br> Personal_Submersibles mailing list<br> Personal_Submersibles@psubs.org<br> http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles<br> <br> <br> _______________________________________________<br> Personal_Submersibles mailing list<br> Personal_Submersibles@psubs.org<br> http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles<br> <br> <br> __________ Information from ESET NOD32 Antivirus, version<br> of virus<br> signature database 9862 (20140528) __________<br> <br> The message was checked by ESET NOD32 Antivirus.<br> <br> http://www.eset.com<br> <br> <br> <br> __________ Information from ESET NOD32 Antivirus, version<br> of virus<br> signature database 9862 (20140528) __________<br> <br> The message was checked by ESET NOD32 Antivirus.<br> <br> http://www.eset.com<br> <br> <br> <br> _______________________________________________<br> Personal_Submersibles mailing list<br> Personal_Submersibles@psubs.org<br> http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles<br> <br> <br> _______________________________________________<br> Personal_Submersibles mailing list<br> Personal_Submersibles@psubs.org<br> http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles<br> <br> <br> __________ Information from ESET NOD32 Antivirus, version of<br> virus signature<br> database 9866 (20140529) __________<br> <br> The message was checked by ESET NOD32 Antivirus.<br> <br> http://www.eset.com<br> <br> <br> __________ Information from ESET NOD32 Antivirus, version of<br> virus signature<br> database 9867 (20140529) __________<br> <br> The message was checked by ESET NOD32 Antivirus.<br> <br> http://www.eset.com<br> <br> <br> <br> __________ Information from ESET NOD32 Antivirus, version of<br> virus signature<br> database 9867 (20140529) __________<br> <br> The message was checked by ESET NOD32 Antivirus.<br> <br> http://www.eset.com<br> <br> <br> <br> _______________________________________________<br> Personal_Submersibles mailing list<br> Personal_Submersibles@psubs.org<br> http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles<br> <br><br>_______________________________________________<br>Personal_Submersibles mailing list<br>Personal_Submersibles@psubs.org<br>http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles<br><br></body>