7000M pressure experiment of a deep-sea hydraulic manipulator system

Deep-sea master-slave hydraulic manipulator is among most commonly tools equipped on remotely-operated vehicles or human occupied vehicles. The design and realization of a 7-Function master-slave hydraulic manipulator can be used in 7000 meters depth is proposed. Linear actuator, rotary actuator and cycloid motor are the three basic modules of the slave arm. A double-screw-pair swing rotary actuator is designed as the rotary actuator, which realized rotary driving, multi-path oil and electric cable passing through and rotary angle measuring. Based on the reliable running experiments on land, a pressure experiment system to test the manipulator´s index of 7000m depth is proposed. In the experiment system, the master controller with the whole system´s power supply and experiment monitor are placed outside of the pressure cabin. And the slave arm, slave controller, hydraulic system, underwater light and cameras are inside the cabin. The pressure experimenting process is described in detail. Also, during the exciting experiment, some abjective things were also present, such as the rotary actuator rotating slow even stop rotating in high pressure environment. Complementary experiments aiming at problem arose in the whole system testing had to be done lately. The whole system´s and complementary experiment show that the manipulator satisfy 7000m design depth index.