Development of a 7-function hydraulic underwater manipulator system

A 7-function underwater manipulator which is teleoperated by master-slave type is systemically developed. It is mainly comprised of master controller, connection box, slave arm, pressure compensator, valve pack and hydraulic power unit. The slave arm is operated by the master arm, which is fixed on the master controller used to operate, configure, and diagnose the manipulator system and is a miniature replica of the slave arm. The movement of the smaller master arm is replicated by the larger slave arm. The pressure compensator provides hydraulic pressure compensation such that the compensated pressure is slightly higher than the ambient water pressure. A closed position loop is utilized to the control of each slave arm function except the jaw, integrating fault and error diagnosis. The valve pack, communication and power supply are also analyzed. The developed underwater manipulator is dexterous, accurate and reliable.