<div dir="ltr">Oh wow, I think, even though electric we can go a little more heavy duty than that. It looks like it was built of recycled parts from old IKEA desk lamps! </div><div class="gmail_extra"><br><br><div class="gmail_quote">
On Mon, Jun 2, 2014 at 9:29 PM, Pete Niedermayr via Personal_Submersibles <span dir="ltr"><<a href="mailto:personal_submersibles@psubs.org" target="_blank">personal_submersibles@psubs.org</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<br>
Mmmm sea cucumber sandwiches--------------------------------------------<br>
On Mon, 6/2/14, Alan James via Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br>
<br>
Subject: Re: [PSUBS-MAILIST] Manipulator arm<br>
<div class=""> To: "Personal Submersibles General Discussion" <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>><br>
</div> Date: Monday, June 2, 2014, 4:16 PM<br>
<br>
Alec,here is just what you<br>
want.An lightweight underwater<br>
<div class=""> electric manipulator from China, complete with<br>
cameras& shopping basket for<br>
</div> samples.I have seen other versions of<br>
<div class=""> this.<br>
Weihai Future Robot Co., Ltd.<br>
</div> AlanWeihai<br>
Future Robot Co., Ltd.Weihai<br>
Future Robot Co., Ltd.View<br>
on vvlai.cnPreview<br>
by Yahoo<br>
<div class="HOEnZb"><div class="h5"><br>
From: Private via<br>
Personal_Submersibles<br>
<<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>><br>
To: Personal<br>
Submersibles General Discussion<br>
<<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>><br>
Sent: Tuesday, June 3,<br>
2014 9:24 AM<br>
<br>
Subject: Re:<br>
[PSUBS-MAILIST] Manipulator arm<br>
<br>
...and if it<br>
were me, electric rather than hydraulic. The reason is, itsy<br>
bitsy PSUBS might not have space for the pump, reservoir,<br>
valves, and whatever else hydraulics require, but we do all<br>
have batteries. I mean, in Snoopy small size drives my<br>
choices even of instruments. I can't see needing great<br>
lifting power, I'm happy to pick up a sea shell or<br>
clip a surfactant line onto something. The ideal setup for<br>
me would be a bolt-on manip requiring no gear at all in the<br>
sub except for one electrical penetrator to connect the<br>
thing to, and joystick(s) to control it with.<br>
Best,<br>
Alec<br>
<br>
<br>
<br>
On Jun 2, 2014,<br>
at 10:18 AM, via Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br>
<br>
<br>
Scott,<br>
<br>
<br>
<br>
<br>
Looking at Schilling, etc., is instructive, but rather like<br>
watching those shows on cable television where young couples<br>
are trying to decide whether to buy a five hundred and<br>
eighty-five thousand dollar house or a six hundred and<br>
twenty-nine thousand dollar house, neither of which they can<br>
afford.<br>
<br>
<br>
<br>
<br>
What we really need<br>
(in my opinion) is something simpler. Think mobile gripper<br>
to start with. I know of a lightweight three-function<br>
pneumatic arm (shoulder left-right/up-down and gripper) that<br>
worked fine. It was designed to be easy on the pocketbook<br>
and simple to use/maintain. Valves, tubing, three pistons,<br>
some smallish diameter aluminum pipe, and a few brackets to<br>
build. Not a bad place to start.<br>
<br>
<br>
<br>
<br>
Vance <br>
<br>
<br>
<br>
<br>
<br>
<br>
-----Original<br>
Message-----<br>
<br>
From: swaters via Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>><br>
<br>
To: Personal Submersibles General Discussion <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>><br>
<br>
Sent: Mon, Jun 2, 2014 9:26 am<br>
<br>
Subject: Re: [PSUBS-MAILIST] Manipulator arm<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
Thanks Alan!<br>
<br>
-Scott Waters<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
Sent from my U.S.<br>
Cellular© Smartphone<br>
<br>
<br>
<br>
Alan via Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br>
<br>
<br>
Scott,<br>
<br>
here is a link to the<br>
Schilling manipulator manuals.<br>
<br>
<a href="http://www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx" target="_blank">www.fmctechnologies.com/en/SchillingRobotics/Technical-Manuals.aspx</a><br>
<br>
Very scary. They are the<br>
rolls royce of manipulator.<br>
<br>
Usually near the end of<br>
these 500 page pdfs there<br>
<br>
are various gripper<br>
drawings with measurements<br>
<br>
that would be a good<br>
basis for gripper design.<br>
<br>
Alan<br>
<br>
<br>
<br>
Sent from my iPad<br>
<br>
<br>
<br>
On 2/06/2014, at 11:37 am, swaters via Personal_Submersibles<br>
<<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br>
<br>
<br>
<br>
<br>
<br>
<br>
Thanks for the info<br>
Vance. I am starting to get a idea of some direction for a<br>
psubs manipulator.<br>
<br>
Thanks,<br>
<br>
Scott Waters<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
Sent from my U.S.<br>
Cellular© Smartphone<br>
<br>
<br>
<br>
Vance Bradley via Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br>
<br>
Hytorc makes a good line of robust, self-contained<br>
continuous duty pumps, most adjustable from 1500 to 10000<br>
psi. The.120 volt units we used had a universal motor so<br>
could be run on straight off the main buss. We set them up<br>
with an accumulator pre- charged to 1000 psi and a pressure<br>
switch set 1000 to 1500 psi. This supplied pressure to a<br>
double bank (6 each) of Parker-Hannifen solenoids controlled<br>
with their own 12 volt tap. Twelve solenoids gave us control<br>
for two manipulators, plus rudder and dive planes (with some<br>
variance depending on the sub). All of this was mounted<br>
internally. Eventually, perry went to external compensated<br>
pump/solenoid boxes for the manipulators, but by then the<br>
subs were up in the one point five to three million dollar<br>
range. The resultant increased budget and their growing<br>
experience with work class ROVs made that practical. All the<br>
later boats were set up with the external package, as far as<br>
I know.<br>
<br>
Vance<br>
<br>
Sent from my iPhone<br>
<br>
<br>
<br>
> On May 29, 2014, at 4:36 PM, Hugh Fulton via<br>
Personal_Submersibles <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br>
<br>
><br>
<br>
> Hank,<br>
<br>
> That seems like very good advice. I am wanting to do<br>
a manipulator but need<br>
<br>
> to get some idea of what lifting or forces are<br>
required.<br>
<br>
> What are the pumps you have found to work best. What<br>
pressure do they<br>
<br>
> develop? I had no idea what a top pump was so googled<br>
it and came up with<br>
<br>
> breast pumps!! I didn't want to make a tit of<br>
myself so chased down some<br>
<br>
> more and found that they are for convertible cars. They<br>
look a bit on the<br>
<br>
> large side diameter wise. Any brand best? Cheers, <br>
Hugh<br>
<br>
><br>
<br>
><br>
<br>
> -----Original Message-----<br>
<br>
> From: Personal_Submersibles [mailto:<a href="mailto:personal_submersibles-bounces@psubs.org">personal_submersibles-bounces@psubs.org</a>]<br>
<br>
> On Behalf Of hank pronk via Personal_Submersibles<br>
<br>
> Sent: Friday, 30 May 2014 12:21 a.m.<br>
<br>
> To: Personal Submersibles General Discussion<br>
<br>
> Subject: Re: [PSUBS-MAILIST] Manipulator arm<br>
<br>
><br>
<br>
> Scott,<br>
<br>
> No matter how you do it, a manipulator will cost some<br>
of money. I have made<br>
<br>
> many and the tendency seems to be, to try and make them<br>
strong to lift a<br>
<br>
> lot. Well first off, I think it was Vance that said<br>
it best. A manipulator<br>
<br>
> is for manipulating not lifting. With that in mind,<br>
large components are<br>
<br>
> not needed. Simple air cylinders from ebay are all<br>
that is needed. A 2in<br>
<br>
> bore and depending on manip design, 4in stroke, maybe<br>
as much as 6in stroke<br>
<br>
> is all you need. Keep the rod size small at 5/8, that<br>
reduces the back<br>
<br>
> pressure. I have said it before, I love convertible<br>
top pumps. Consider<br>
<br>
> using one pump per function again purchase from ebay<br>
for 125 bucks. No need<br>
<br>
> for valves, the pump simply runs in reverse to change<br>
direction of the<br>
<br>
> piston. Keep the pumps inside the sub and it is real<br>
simple. As for the arm<br>
<br>
> itself, if have made them from cardboard first. You<br>
can mock it up that way<br>
<br>
> and find the best pin locations for the cylinders and<br>
ensure the cylinders<br>
<br>
> stroke properly without over centering. You can build<br>
the arm with square<br>
<br>
> tubing, use 3 inch aluminum so the cylinders fit inside<br>
when the arm is<br>
<br>
> folded up. Forget about a wrist until you have lots<br>
of time to play around.<br>
<br>
> Four functions will serve a psubber well and can be<br>
built for under 1,000<br>
<br>
> dollars. I can send you a convertible top pump to play<br>
with if you like.<br>
<br>
> Hank<br>
<br>
> --------------------------------------------<br>
<br>
> On Wed, 5/28/14, swaters via Personal_Submersibles<br>
<br>
> <<a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a>> wrote:<br>
<br>
><br>
<br>
> Subject: [PSUBS-MAILIST] Manipulator arm<br>
<br>
> To: <a href="mailto:personal_submersibles@psubs.org">personal_submersibles@psubs.org</a><br>
<br>
> Received: Wednesday, May 28, 2014, 9:31 PM<br>
<br>
><br>
<br>
> Hey guys. I am<br>
<br>
> still working on the manipulator arm project for the<br>
K boats. I am a<br>
<br>
> little overwhelmed as to what direction to head. I<br>
really don't know where<br>
<br>
> to start because of my lack of knolwedge. Does anyone<br>
have any pointers as<br>
<br>
> to where to start? I am thinking about using electric<br>
motors rather than<br>
<br>
> hydrolics just because of the amount of external <br>
operating<br>
<br>
> peices. Thanks,Scott Waters<br>
<br>
><br>
<br>
><br>
<br>
><br>
<br>
> Sent<br>
<br>
> from my U.S. Cellular© Smartphone<br>
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</div></div></blockquote></div><br></div>