<html><body><div style="color:#000; background-color:#fff; font-family:HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif;font-size:12pt"><div><span>Hi Dr Phil</span></div><div style="color: rgb(0, 0, 0); font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; font-size: 16px; font-style: normal; background-color: transparent;"><span>I kinda had that feeling :-) </span></div><div style="color: rgb(0, 0, 0); font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; font-size: 16px; font-style: normal; background-color: transparent;"><span>Hank</span></div> <div class="qtdSeparateBR"><br><br></div><div class="yahoo_quoted" style="display: block;"> <div style="font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; font-size: 12pt;"> <div style="font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif;
font-size: 12pt;"> <div dir="ltr"> <font face="Arial" size="2"> On Sunday, June 1, 2014 11:20:44 PM, Alan James via Personal_Submersibles <personal_submersibles@psubs.org> wrote:<br> </font> </div> <br><br> <div class="y_msg_container"><div id="yiv7468828317"><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><span>Thanks Hugh,</span></div><div style='color: rgb(0, 0, 0); font-family: HelveticaNeue, "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; font-size: 13.33px; font-style: normal; background-color: transparent;'><span>that gerotor motor idea looks good.</span></div><div style='color: rgb(0, 0, 0); font-family: HelveticaNeue, "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; font-size: 13.33px; font-style: normal; background-color: transparent;'><span>Would a couple of counter
balance valves be enough to stop</span></div><div style='color: rgb(0, 0, 0); font-family: HelveticaNeue, "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; font-size: 13.33px; font-style: normal; background-color: transparent;'><span>it's rototation & hold position. </span></div><div style='color: rgb(0, 0, 0); font-family: HelveticaNeue, "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; font-size: 13.33px; font-style: normal; background-color: transparent;'><span>I would imagine that there isn't a perfect internal seal & with a bit of leverage on the manipulator grippers</span></div><div style='color: rgb(0, 0, 0); font-family: HelveticaNeue, "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; font-size: 13.33px; font-style: normal; background-color: transparent;'><span>it could rotate. Whether it would rotate enough to cause a problem, I don't know.</span></div><div style='color: rgb(0, 0, 0);
font-family: HelveticaNeue, "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; font-size: 13.33px; font-style: normal; background-color: transparent;'><span>Alan</span></div><div style='color: rgb(0, 0, 0); font-family: HelveticaNeue, "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; font-size: 13.33px; font-style: normal; background-color: transparent;'><br clear="none"></div><div style='color: rgb(0, 0, 0); font-family: HelveticaNeue, "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; font-size: 13.33px; font-style: normal; background-color: transparent;'><br clear="none"></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 class="yiv7468828317yqt6371716098"
id="yiv7468828317yqt54599"><div dir="ltr"> <div class="hr" style="margin: 5px 0px; padding: 0px; border: 1px solid rgb(204, 204, 204); border-image: none; height: 0px; line-height: 0; font-size: 0px;" contenteditable="false" readonly="true"></div> <font face="Arial" size="2"> <b><span style="font-weight: bold;">From:</span></b> Hugh Fulton via Personal_Submersibles <personal_submersibles@psubs.org><br clear="none"> <b><span style="font-weight: bold;">To:</span></b> 'Personal
Submersibles General Discussion' <personal_submersibles@psubs.org> <br clear="none"> <b><span style="font-weight: bold;">Sent:</span></b> Monday, June 2, 2014 12:50 PM<br clear="none"> <b><span style="font-weight: bold;">Subject:</span></b> Re: [PSUBS-MAILIST] Manipulator arm<br clear="none"> </font> </div> <div class="yiv7468828317y_msg_container"><br clear="none"><div id="yiv7468828317"><style>#yiv7468828317 --
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#yiv7468828317 </style><div><div class="yiv7468828317WordSection1"><div class="yiv7468828317MsoNormal"><span style="font-size: 11pt;">Alan,</span></div><div class="yiv7468828317MsoNormal"><span style="font-size: 11pt;">You are a real ferret. Those manuals are great to get an understanding.</span></div><div class="yiv7468828317MsoNormal"><span style="font-size: 11pt;">I am playing with a gerotor design but it is much simpler. I have used a gerotor oil pump for years in the compressors we make and I believe it would be a much simpler design.</span></div><div class="yiv7468828317MsoNormal"><span style="font-size: 11pt;">I am amazed at how similar in concept I am to that manual. That will help me tidy up a few areas. The tricky bit is the hydraulic locking mechanism they utilize. Thanks for that.</span></div><div class="yiv7468828317MsoNormal"><span style="font-size: 11pt;">Hugh</span></div><div
class="yiv7468828317MsoNormal"><span style="font-size: 11pt;"> </span></div><div class="yiv7468828317MsoNormal"><span style="font-size: 11pt;"> </span></div><div><div style="border-width: 1pt medium medium; border-style: solid none none; border-color: rgb(181, 196, 223) currentColor currentColor; padding: 3pt 0cm 0cm; border-image: none;"><div class="yiv7468828317MsoNormal"><b><span style="font-size: 10pt;">From:</span></b><span style="font-size: 10pt;"> Personal_Submersibles [mailto:personal_submersibles-bounces@psubs.org] <b>On Behalf Of </b>Alan via Personal_Submersibles<br clear="none"><b>Sent:</b> Monday, 2 June 2014 12:09 p.m.<br clear="none"><b>To:</b> Personal Submersibles General Discussion<br clear="none"><b>Subject:</b> Re: [PSUBS-MAILIST] Manipulator arm</span></div></div></div><div class="yiv7468828317MsoNormal"> </div><div><div class="yiv7468828317MsoNormal">Scott,</div></div><div><div class="yiv7468828317MsoNormal">here
is a link to the Schilling manipulator manuals.</div></div><div><div class="yiv7468828317MsoNormal"><a href="http://www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx" target="_blank" rel="nofollow" shape="rect">www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx</a></div></div><div><div class="yiv7468828317MsoNormal">Very scary. They are the rolls royce of manipulator.</div></div><div><div class="yiv7468828317MsoNormal">Usually near the end of these 500 page pdfs there</div></div><div><div class="yiv7468828317MsoNormal">are various gripper drawings with measurements</div></div><div><div class="yiv7468828317MsoNormal">that would be a good basis for gripper design.</div></div><div><div class="yiv7468828317MsoNormal">Alan</div></div><div><div class="yiv7468828317MsoNormal"><br clear="none">Sent from my iPad</div></div><div><div class="yiv7468828317MsoNormal" style="margin-bottom: 12pt;"><br clear="none">On 2/06/2014, at
11:37 am, swaters via Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:</div></div><blockquote style="margin-top: 5pt; margin-bottom: 5pt;"><div><div><div class="yiv7468828317MsoNormal">Thanks for the info Vance. I am starting to get a idea of some direction for a psubs manipulator.</div></div><div><div class="yiv7468828317MsoNormal">Thanks,</div></div><div><div class="yiv7468828317MsoNormal">Scott Waters</div></div><div><div class="yiv7468828317MsoNormal"> </div></div><div><div class="yiv7468828317MsoNormal"> </div></div><div><div class="yiv7468828317MsoNormal"> </div></div><div><div class="yiv7468828317MsoNormal"> </div></div><div><div><div class="yiv7468828317MsoNormal"><span style="color: rgb(87, 87, 87); font-size: 9pt;">Sent from my U.S. Cellular©
Smartphone</span></div></div></div><div class="yiv7468828317MsoNormal"><br clear="none">Vance Bradley via Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br clear="none">Hytorc makes a good line of robust, self-contained continuous duty pumps, most adjustable from 1500 to 10000 psi. The.120 volt units we used had a universal motor so could be run on straight off the main buss. We set them up with an accumulator pre- charged to 1000 psi and a pressure switch set 1000 to 1500 psi. This supplied pressure to a double bank (6 each) of Parker-Hannifen solenoids controlled with their own 12 volt tap. Twelve solenoids gave us control for two manipulators, plus rudder and dive planes (with some variance depending on the sub). All of this was mounted internally. Eventually, perry went to external
compensated pump/solenoid boxes for the manipulators, but by then the subs
were up in the one point five to three million dollar range. The resultant increased budget and their growing experience with work class ROVs made that practical. All the later boats were set up with the external package, as far as I know.<br clear="none">Vance<br clear="none">Sent from my iPhone<br clear="none"><br clear="none">> On May 29, 2014, at 4:36 PM, Hugh Fulton via Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br clear="none">> <br clear="none">> Hank,<br clear="none">> That seems like very good advice. I am wanting to do a manipulator but need<br clear="none">> to get some idea of what lifting or forces are required.<br clear="none">> What are the pumps you have found to work best. What pressure do they<br clear="none">> develop? I had no idea
what a top pump was so googled it and came up with<br clear="none">> breast pumps!! I didn't want to make a tit of myself so chased down some<br clear="none">> more and found that they are for convertible cars. They look a bit on the<br clear="none">> large side diameter wise. Any brand best? Cheers, Hugh <br clear="none">> <br clear="none">> <br clear="none">> -----Original Message-----<br clear="none">> From: Personal_Submersibles [<a href="mailto:personal_submersibles-bounces@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles-bounces@psubs.org">mailto:personal_submersibles-bounces@psubs.org</a>]<br clear="none">> On Behalf Of hank pronk via Personal_Submersibles<br clear="none">> Sent: Friday, 30 May 2014 12:21 a.m.<br clear="none">> To: Personal Submersibles General Discussion<br clear="none">> Subject: Re: [PSUBS-MAILIST] Manipulator arm<br
clear="none">> <br clear="none">> Scott,<br clear="none">> No matter how you do it, a manipulator will cost some of money. I have made<br clear="none">> many and the tendency seems to be, to try and make them strong to lift a<br clear="none">> lot. Well first off, I think it was Vance that said it best. A manipulator<br clear="none">> is for manipulating not lifting. With that in mind, large components are<br clear="none">> not needed. Simple air cylinders from ebay are all that is needed. A 2in<br clear="none">> bore and depending on manip design, 4in stroke, maybe as much as 6in stroke<br clear="none">> is all you need. Keep the rod size small at 5/8, that reduces the back<br clear="none">> pressure. I have said it before, I love convertible top pumps. Consider<br clear="none">> using one pump per function again purchase from ebay for 125 bucks. No
need<br clear="none">> for valves, the pump simply runs in reverse to change direction of the<br clear="none">> piston. Keep the pumps inside the sub and it is real simple. As for the arm<br clear="none">> itself, if have made them from cardboard first. You can mock it up that way<br clear="none">> and find the best pin locations for the cylinders and ensure the cylinders<br clear="none">> stroke properly without over centering. You can build the arm with square<br clear="none">> tubing, use 3 inch aluminum so the cylinders fit inside when the arm is<br clear="none">> folded up. Forget about a wrist until you have lots of time to play around.<br clear="none">> Four functions will serve a psubber well and can be built for under 1,000<br clear="none">> dollars. I can send you a convertible top pump to play with if you like.<br clear="none">> Hank<br clear="none">>
--------------------------------------------<br clear="none">> On Wed, 5/28/14, swaters via Personal_Submersibles<br clear="none">> <<a href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br clear="none">> <br clear="none">> Subject: [PSUBS-MAILIST] Manipulator arm<br clear="none">> To: <a href="mailto:personal_submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a><br clear="none">> Received: Wednesday, May 28, 2014, 9:31 PM<br clear="none">> <br clear="none">> Hey guys. I am<br clear="none">> still working on the manipulator arm project for the K boats. I am a<br clear="none">> little overwhelmed as to what direction to head. I really don't know where<br clear="none">> to start
because of my lack of knolwedge. Does anyone have any pointers as<br clear="none">> to where to start? I am thinking about using electric motors rather than<br clear="none">> hydrolics just because of the amount of external operating<br clear="none">> peices. Thanks,Scott Waters<br clear="none">> <br clear="none">> <br clear="none">> <br clear="none">> Sent<br clear="none">> from my U.S. Cellular© Smartphone<br clear="none">> <br clear="none">> -----Inline Attachment Follows-----<br clear="none">> <br clear="none">> _______________________________________________<br clear="none">> Personal_Submersibles mailing list<br clear="none">> <a href="mailto:Personal_Submersibles@psubs.org" target="_blank" rel="nofollow" shape="rect" ymailto="mailto:Personal_Submersibles@psubs.org">Personal_Submersibles@psubs.org</a><br clear="none">> <a
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