Deep-sea pressure adaptive compensation technique for underwater robots

Abstract

Considering the rough condition of the special working circumstance,how to realize the pressure-resist and seal of the components is the key point for the development of the deep-sea hydraulic robots.In order to enhance the work efficiency and system reliability,a novel hydraulic system with the automated outer-inner pressure balanced technique based on the known technique of the balanced compensation directly to the hydraulic source was presented.A special design of the compensator unit was put forward to provide compensation for the whole electro-hydraulic control system,which can insure that the inner compensated pressure is always a little bit higher than the outer environmental pressure to prevent seawater from entering through a leak.The performances are evaluated through the static and dynamic simulations.