Design and experiments of a deep-sea five-function electric manipulator system

The realization and key technology of a medium-load underwater electric manipulator is researched for the demand of the small and medium deep-sea underwater vehicle. The manipulator consists of electric linear cylinder module and wrist-clamp module. The linear cylinder can offer large linear force and displacement feedback to realize positioning control, 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 be used in 6000m deep-sea. The design and control experiments of the manipulator are described in detail.