Design and Experiments of a 11000m 7-Function Electric Manipulator System

For operational requirements of the 11000m underwater vehicle which is small and medium-sized or is restricted by energy, a medium-load 7-function electric manipulator is developed. The manipulator is composed by parallel electric linear cylinder module, electric linear cylinder module, forearm rotate module and wrist-clamp module. The electric linear cylinders can offer large linear force and realize joint positioning control through rotating potentiometer, the forearm rotate module can output large torque and feedback the information of forearm joint position, and the wrist-clamp module can output continuous rotation and clamp movements without using conductive slip ring. The manipulator has a larger load capacity than that directly driven by the joint and can operate in 11000m deep-sea. The design and experiments of the manipulator are described in detail.