AUTHOR=Ruan Dongrui , Chen Jiawang , Peng Xiaoqing , Ai Jingkun 

TITLE=Development of a full ocean depth hydraulic manipulator with heavy-duty capacity

JOURNAL=Frontiers in Marine Science

VOLUME=Volume 11 - 2024

YEAR=2024

URL=https://www.frontiersin.org/journals/marine-science/articles/10.3389/fmars.2024.1470361

DOI=10.3389/fmars.2024.1470361

ISSN=2296-7745

ABSTRACT=To enhance the performance of underwater grasping tasks during marine exploration, we developed a heavy-duty capacity full ocean depth hydraulic manipulator. The manipulator's overall system design comprises the mechanical structure part and the electric control system part. The master arm controls the slave arm by sending control signals to the controller and valve box. The structural design of the elbow and wrist joints has been designed to improve the underwater working performance and activity space of the manipulator. Laboratory tests confirmed the manipulator's excellent response consistency and tracking ability across a large range of movement. Finally, the manned submersible Fendouzhe carried the manipulator for sea trials in the Mariana Trench, with results indicating an excellent capacity for successfully completing tasks.