Development of Bilateral Manipulator for Deep Submergence Remotelly Controlled Vehicle

Abstract

A utility bilateral manipulator has been developed for deep submergence remotelly controlled vehicle. This manipulator can lift 45 kgf at maximum outreach of l.8 meters, and has six joints and a terminal device. All of the joints and device are given bilateral function. The symmetrical bilateral servo control system is adopted in this manipulator system. They must perform the following developments to get a high-performance manipulator. i.e. (1)low friction hydraulic actuators for slave arm and master arm, (2)small electrohydraulic servo system with precise pressure control characteristic, (3)oil immersed electoronic controller. So that, this manipulator will be able to be cotrolled in deep sea free from ambient pressure, and has good manoeuvrability by remote control. Any operator can control this manipulator freely, speedily, precisely, can perform underwater works such as bolt-nut fastening, handle rotating etc. by this manipulator.