Abstract
Deep-sea hydraulic manipulator is the most commonly used operation equipment for executing subsea operations in different applications. The increasing demands on underwater operational ease require the implementation of manipulator system which can maintain similar dynamic performance in different working conditions Considering the variations of seawater properties at different ocean depths, especially high hydrostatic pressure in deep-sea environment will make the kinematic viscosity of oil obviously increased, which has a significant influence on the performance of deep-sea hydraulic manipulator. The viscosity-pressure characteristics of working medium is tested. A detailed nonlinear mathematical model and related simulations considering the significant slender pipelines between valves and actuators due to the increased oil viscosity are conducted to analyze the ambient pressures against varying depths affecting the manipulator performance. The 115MPa online pressure experimental results indicate the joint response characteristics at different ambient pressures, which provides basis for response consistency control of deep-sea hydraulic manipulator.
Original document
The different versions of the original document can be found in:
- http://ir.sia.cn//bitstream/173321/26048/1/Influence%20of%20Ambient%20Pressure%20on%20Performance%20of%20a%20Deep-sea%20Hydraulic%20Manipulator.pdf under the license https://creativecommons.org/licenses/by-nc-sa
- http://dx.doi.org/10.1109/oceanse.2019.8867485 under the license cc-by-nc-sa
Document information
Published on 01/01/2019
Volume 2019, 2019
DOI: 10.1109/oceanse.2019.8867485
Licence: Other
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