<html><body><div style="color:#000; background-color:#fff; font-family:HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif;font-size:10pt"><div>Thanks Sean, </div><div>I think I've got it.</div><div>I've attached a couple of drawings; but they aren't showing the o-rings & oil channels in the rotary joints.</div><div>The dark green ring is attached to the body of the hydraulic motor & has the hydraulic lines attached for operating</div><div>the gripper.</div><div>The next silver ring is bolted to the motor's shaft & rotates with it, as does everything else left of it.</div><div>The next red section is the cylinder that <span id="misspell-0" class=""><span>encompasses</span></span> the piston for gripper operation.</div><div>The last silver section is the <span id="misspell-1" class=""><span>cylinder</span></span> end. There are through bolts to the first silver section.</div><div>One hydraulic line feeds in to an
inner channel on the face of the first slip ring, which is <span id="misspell-2" class=""><span>encompassed</span></span> by o-rings & feeds </div><div>oil through to the right side of the hydraulic cylinder.</div><div>The next hydraulic line feeds in to the outer channel, which has a hole drilled horizontally through this slip ring & the length of the</div><div>red cylinder wall exiting in to the left end of the cylinder.</div><div>I'm sure there are lots of iterations you could come up with based on this.</div><div>Alan</div><div> </div><div><br></div> <div style="font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida Grande', sans-serif; font-size: 10pt;"> <div style="font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida Grande', sans-serif; font-size: 12pt;"> <div dir="ltr"> <hr size="1"> <font size="2" face="Arial"> <b><span style="font-weight:bold;">From:</span></b> Sean T. Stevenson via
Personal_Submersibles <personal_submersibles@psubs.org><br> <b><span style="font-weight: bold;">To:</span></b> Personal Submersibles General Discussion <personal_submersibles@psubs.org> <br> <b><span style="font-weight: bold;">Sent:</span></b> Saturday, May 31, 2014 3:53 PM<br> <b><span style="font-weight: bold;">Subject:</span></b> Re: [PSUBS-MAILIST] Manipulator arm<br> </font> </div> <div class="y_msg_container"><br><div id="yiv3209589051"><div>
<div class="yiv3209589051moz-cite-prefix">Full continuous rotation isn't that
complicated, other than one part which needs be machined with
O-ring grooves, oil channels and a shaft connection (taper, spline
or keyway). Use a small hydraulic motor connected to the end of
the arm, recessed into an outer slip ring. The motor can be
connected traditionally with hoses for supply and return. The
inner slip ring connects to the motor shaft and seals to the outer
slip ring with o-rings. For a wrist with only one function
downstream (jaw open and close), you'll need three O-rings,
creating two oil channels in between. If you need more
functions, just keep adding channels / o-rings. If you secure the
inner slip ring to the motor shaft with a nut, that central cavity
in the inner slip ring can become the cylinder that operates the
jaw - just drop a cap over it to seal it off from the motor shaft,
and install a piston and outer cap. Then plumbing the cylinder is
as simple as drilling a hole through the inner slip ring,
connecting each end of the cylinder cavity to its corresponding
oil channel on the outside.<br clear="none">
<br clear="none">
Sean<br clear="none">
<br clear="none">
<br clear="none">
On 2014-05-30 20:21, Alan James via Personal_Submersibles wrote:<br clear="none">
</div>
<blockquote type="cite">
<div class="qtdSeparateBR"><br><br></div><div class="yiv3209589051yqt4938762278" id="yiv3209589051yqt64972"><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><span>All,</span></div>
<div 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>would
this idea for rotating the gripper have merit. (</span><span style="background-color:transparent;">See attachment.)</span></div>
<div 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>It
is simple & can give 90 degrees + of rotation. (would
you need more?)</span></div>
<div 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>The
piston pulls a bolt in a rod down an angled slot in a pipe,
turning the rod & gripper.</span></div>
<div 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>Ignore
the gripper on the end, it's just for show & doesn't
have a closing mechanism.</span></div>
<div 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>Alan</span></div>
<div><br clear="none">
</div>
<div style="font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida Grande', sans-serif; font-size: 10pt;">
<div style="font-family: HelveticaNeue, 'Helvetica Neue', Helvetica, Arial, 'Lucida Grande', sans-serif; font-size: 12pt;">
<div dir="ltr">
<hr size="1"> <font face="Arial" size="2"> <b><span style="font-weight:bold;">From:</span></b> swaters
via Personal_Submersibles
<a rel="nofollow" shape="rect" class="yiv3209589051moz-txt-link-rfc2396E" ymailto="mailto:personal_submersibles@psubs.org" target="_blank" href="mailto:personal_submersibles@psubs.org"><personal_submersibles@psubs.org></a><br clear="none">
<b><span style="font-weight:bold;">To:</span></b>
<a rel="nofollow" shape="rect" class="yiv3209589051moz-txt-link-abbreviated" ymailto="mailto:personal_submersibles@psubs.org" target="_blank" href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a> <br clear="none">
<b><span style="font-weight:bold;">Sent:</span></b>
Friday, May 30, 2014 12:36 PM<br clear="none">
<b><span style="font-weight:bold;">Subject:</span></b>
[PSUBS-MAILIST] Manipulator arm<br clear="none">
</font> </div>
<div class="yiv3209589051y_msg_container"><br clear="none">
<div id="yiv3209589051">
<div>
<div>
<div style="color:rgb(0, 0, 0);">Hank,</div>
<div>That would be great. So on a four function
would you have eight penetrations or four
penetrations? My goal is to make a good and not to
expensive (under $2000) manipulator arm for psub
members.</div>
<div><br clear="none">
</div>
<div>My address is:</div>
<div>Scott Waters</div>
<div>3213 Arnold Ave</div>
<div>Bldg 122</div>
<div>Salina, KS 67401</div>
<div><br clear="none">
</div>
<div>Thank you,</div>
<div>Scott Waters</div>
</div>
<div><br clear="none">
</div>
<div><br clear="none">
</div>
<div><br clear="none">
</div>
<div><br clear="none">
</div>
<div>
<div style="font-size:75%;color:#575757;">Sent from
my U.S. Cellular© Smartphone</div>
</div>
</div>
</div>
<br clear="none">
_______________________________________________<br clear="none">
Personal_Submersibles mailing list<br clear="none">
<a rel="nofollow" shape="rect" ymailto="mailto:Personal_Submersibles@psubs.org" target="_blank" href="mailto:Personal_Submersibles@psubs.org">Personal_Submersibles@psubs.org</a><br clear="none">
<a rel="nofollow" shape="rect" target="_blank" href="http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles">http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles</a><br clear="none">
<br clear="none">
<br clear="none">
</div>
</div>
</div>
</div></div>
<br clear="none">
<fieldset class="yiv3209589051mimeAttachmentHeader"></fieldset>
<br clear="none">
<pre>_______________________________________________
Personal_Submersibles mailing list
<a rel="nofollow" shape="rect" class="yiv3209589051moz-txt-link-abbreviated" ymailto="mailto:Personal_Submersibles@psubs.org" target="_blank" href="mailto:Personal_Submersibles@psubs.org">Personal_Submersibles@psubs.org</a>
<a rel="nofollow" shape="rect" class="yiv3209589051moz-txt-link-freetext" target="_blank" href="http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles">http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles</a>
</pre>
</blockquote>
<br clear="none">
</div></div><br><div class="yqt4938762278" id="yqt47593">_______________________________________________<br clear="none">Personal_Submersibles mailing list<br clear="none"><a shape="rect" ymailto="mailto:Personal_Submersibles@psubs.org" href="mailto:Personal_Submersibles@psubs.org">Personal_Submersibles@psubs.org</a><br clear="none"><a shape="rect" href="http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles" target="_blank">http://www.psubs.org/mailman/listinfo.cgi/personal_submersibles</a><br clear="none"></div><br><br></div> </div> </div> </div></body></html>