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Research and experiment on viscous friction power loss of deep-sea electric manipulator
Bai YF(白云飞)1,2; Zhang QF(张奇峰)1; Fan YL(范云龙)1; Wang HL(王海龙)1; Zhang AQ(张艾群)1
Department水下机器人研究室
Conference NameOCEANS 2018 MTS/IEEE Kobe
Conference DateMay 28-31, 2018
Conference PlaceKobe, Japan
Source PublicationOCEANS 2018 MTS/IEEE Kobe
PublisherIEEE
Publication PlaceNew York
2018
Pages1-4
Indexed ByEI
EI Accession number20190406415702
Contribution Rank1
ISBN978-1-5386-1654-3
Keyworddeep-sea electric manipulator model of viscous power loss pressure test of oil-filled joint
AbstractDeep-sea electric manipulator usually adopts internally oil-filled method, and the joint motors are soaked in the oil, so that the oil pressure and the water pressure outside will be basically balanced. However, due to the high pressure in deep sea, the oil viscosity increases, and the viscous frictional resistance will cause the viscous power loss of motor to become bigger. This paper establishes the theoretical model of viscous friction power loss and measures the viscous friction power loss of pitching joint motor and wrist-clamp module in oil-filled movement under the simulated pressure at different depths through pressure experiment. Meanwhile, the model parameter of viscous power loss is obtained by data fitting. Through the established model of viscous power loss, we can predict the viscous friction power loss of electric manipulator when it operates under water. At the same time, this model provides theoretical basis for dynamics modeling of deep-sea electric manipulator and trajectory optimization based on energy consumption. © 2018 IEEE.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24129
Collection水下机器人研究室
Corresponding AuthorBai YF(白云飞)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Bai YF,Zhang QF,Fan YL,et al. Research and experiment on viscous friction power loss of deep-sea electric manipulator[C]. New York:IEEE,2018:1-4.
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