<html><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"></head><body><div>Great. Thanks Hank. The joy sticks are electric and not hydrolic valves right?</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><br>Scott,<br>The arm is controlled with two joy sticks from, you guessed it ebay. Also there are two,two way toggle switches that control the hand and rotation. I would hate to pick up a gold bar and drop it because I bumped a joy stick. I can take a picture for you later today.<br>Hank --------------------------------------------<br>On Fri, 5/30/14, swaters 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: Friday, May 30, 2014, 11:40 AM<br> <br> Hank,Do<br> you have any detailed pictures of the controller for the<br> manipulator? How is the controller arranged in the<br> submarine?Thanks,Scott<br> Waters<br> <br> <br> <br> Sent<br> from my U.S. Cellular© Smartphone <br> hank pronk via Personal_Submersibles<br> <personal_submersibles@psubs.org> wrote:<br> Hugh,<br> The wrist movement on Gamma is about 345 degrees and is<br> accomplished with a single vane motor so to speak. I<br> did not build that arm, so I am not sure where that part<br> came from. I think it is a custom piece. <br> Outside the wrist and hand, copying that arm is the way to<br> go for psubbers. That arm is very light and robust,<br> also simple to build. The hand could be replicated<br> with two small 1 in bore cylinders instead of the way it is<br> now. Right now the hand and wrist are quite<br> complicated to build for the average guy on a budget. <br> <br> Hank<br> --------------------------------------------<br> On Thu, 5/29/14, Hugh Fulton via Personal_Submersibles<br> <personal_submersibles@psubs.org> wrote:<br> <br> Subject: Re: [PSUBS-MAILIST] Manipulator arm<br> To: "'Personal Submersibles General<br> Discussion'"<br> <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<br> [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<br> 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<br> the<br> one I tested did. I<br> have only used GM pumps, but I am sure they are all the<br> 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<br> 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<br> 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<br> 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? <br> 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<br> 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<br> Vance<br> that said it best. A<br> manipulator is for manipulating not lifting. <br> With<br> that in mind, large<br> components are not needed. Simple air cylinders<br> from<br> ebay are all that is<br> needed. A 2in bore and depending on manip<br> design,<br> 4in stroke, maybe as<br> much as 6in stroke is all you need. Keep the<br> rod<br> size small at 5/8, that<br> reduces the back pressure. I have said it<br> before, I<br> love convertible top<br> pumps. Consider using one pump per function<br> again<br> purchase from ebay for<br> 125 bucks. No need for valves, the pump<br> simply<br> runs in reverse to change<br> direction of the piston. Keep the pumps inside the<br> sub<br> and it is real<br> simple. As for the arm itself, if have made<br> 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 <br> 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.<br> 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. 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