RESEARCH ON THE DEEP-SEA PRESSURE ADAPTIVE HYDRAULIC MANIPULATORS AND ITS FLOW DISTRIBUTION CONTROL TECHNIQUE

摘要

How to realize the pressure-resist and seal of the components is the key point for the development of the deep-sea hydraulic manipulators. In this paper, a novel hydraulic system with the outer-inner pressure balanced technique is presented. Another key problem is that oil supply could not provide enough oil for the actuators when the joints are operated simultaneously. So, an electro-hydraulic digital flow distribution method based on meter-in flow feedback for multiple actuators load sensing system is put forward to distribute flows when two or more actuators are operated together. The corresponding theoretical principle is analyzed and the performances are evaluated through simulations.