Research Development of Energy Efficient Water Hydraulics Manipulator for Underwater Application.
Applied Mechanics and Materials Vol. 393 (2013) pp 723-728
Online available since 2013/Sep/03 at www.scientific.net
© (2013) Trans Tech Publications, Switzerland
doi:10.4028/www.scientific.net/AMM.393.723
"
$
%
%
!
" # #
#
!
" # #
#
$
%
'
%
(
&
$
%
%
)*+
!
"#
"
"
"
$ %& '
(
"
"
%
*
+
"
"
)
"
%&
%&
,
"
-"
./
%&
"
&
" 2,3 3 ,, "
"
& 0.1
)
&
"
4
.
"
.566
All rights reserved. No part of contents of this paper may be reproduced or transmitted in any form or by any means without the written permission of TTP,
www.ttp.net. (ID: 203.106.158.184, Universiti Teknikal Malaysia Melaka (UTeM), Durian Tunggal, Malaysia-26/01/14,16:26:52)
724
Advances in Manufacturing and Mechanical Engineering
,
"
;
-
<
(
"
=
.7890.1 , :6.6
)
%&
"
"
>7
"
$8?6 666
9
'
"
)
0:1
,
%& *
"
!
-
"
"
"
-
(
"
09-@1
051
(
081 ,
.56 "
0?1 <
(
(
A
"
"
"
071
#
#
#
:/ !
<
;
3
:
#
,
"
"
"
"
"
"
9
.
"
-
)
;
-
Applied Mechanics and Materials Vol. 393
"
725
-
"
"
9/ !
"
<
A
2
-
3
"
96
:56 "
>
:@6
9@66 2
"
7B
3
78B
6 66@
"
3
"
"
@
"
)
"
"
,
A
>66
"
>. >
0.61
>/ 3
=
2
3
96 "
726
Advances in Manufacturing and Mechanical Engineering
@/ 3
=
2
3
:56 "
-"
!
"
"
"
(
>6
.:@
"
-
"
,
"
"
"
#
"
*
"
-"
5
"
56 "
)
"
"
"
)
-
)
"
;
)
)
"
"
"
"
"
8
@6 "
)
"
"
"
"
5/
8/C
"
#
"
#
$
'
$
'
#
Applied Mechanics and Materials Vol. 393
727
"
"
)
?
)
.:@
"
(
"
>6
"
?/
"
)
"
"
4
"
96
"
6 66@
"
:@6
:56
9@66 2
728
Advances in Manufacturing and Mechanical Engineering
7B
"
78B
-
@6 "
"
"
#
)
<
"
(
$
#
0.1 3
0:1
#
89
;
)
,
+
;
<
2696?>: $:6..'
091
G 4
;
0>1 ! 4
4
,
3
3
3
4< "
!
<
2
3,
!
!
$+
051
<
$.775'.9H.?
!
H
081 = < C
23F
I4<
<
,
2*:666'
,
;
<
2
3) 3
@. H 5@ $.777'
2*77
2
$.788'
2
4< %
$:66.'
!
0@1 4 < "
+
(
+
2D2E:6.:E F $.@ 'E36.676
2
>?
@@@ H @@7 $:666'
3
" /
,
,
D
:9/>
85 $:669':97 H :>5
0?1
2
>96 $:66@'
!
5 D 23 ,
071 < I
I
"
2
0.61
I
(
<
3
3
2
.996 H .99@ $.77.'
,
3
9.@$:6.9'>?? H >7:
;
2
-
%
2
+
<
@ ,
"
"
D
3
>:6 H
3
/
Advances in Manufacturing and Mechanical Engineering
10.4028/www.scientific.net/AMM.393
Research Development of Energy Efficient Water Hydraulics Manipulator for Underwater Application
10.4028/www.scientific.net/AMM.393.723
Online available since 2013/Sep/03 at www.scientific.net
© (2013) Trans Tech Publications, Switzerland
doi:10.4028/www.scientific.net/AMM.393.723
"
$
%
%
!
" # #
#
!
" # #
#
$
%
'
%
(
&
$
%
%
)*+
!
"#
"
"
"
$ %& '
(
"
"
%
*
+
"
"
)
"
%&
%&
,
"
-"
./
%&
"
&
" 2,3 3 ,, "
"
& 0.1
)
&
"
4
.
"
.566
All rights reserved. No part of contents of this paper may be reproduced or transmitted in any form or by any means without the written permission of TTP,
www.ttp.net. (ID: 203.106.158.184, Universiti Teknikal Malaysia Melaka (UTeM), Durian Tunggal, Malaysia-26/01/14,16:26:52)
724
Advances in Manufacturing and Mechanical Engineering
,
"
;
-
<
(
"
=
.7890.1 , :6.6
)
%&
"
"
>7
"
$8?6 666
9
'
"
)
0:1
,
%& *
"
!
-
"
"
"
-
(
"
09-@1
051
(
081 ,
.56 "
0?1 <
(
(
A
"
"
"
071
#
#
#
:/ !
<
;
3
:
#
,
"
"
"
"
"
"
9
.
"
-
)
;
-
Applied Mechanics and Materials Vol. 393
"
725
-
"
"
9/ !
"
<
A
2
-
3
"
96
:56 "
>
:@6
9@66 2
"
7B
3
78B
6 66@
"
3
"
"
@
"
)
"
"
,
A
>66
"
>. >
0.61
>/ 3
=
2
3
96 "
726
Advances in Manufacturing and Mechanical Engineering
@/ 3
=
2
3
:56 "
-"
!
"
"
"
(
>6
.:@
"
-
"
,
"
"
"
#
"
*
"
-"
5
"
56 "
)
"
"
"
)
-
)
"
;
)
)
"
"
"
"
"
8
@6 "
)
"
"
"
"
5/
8/C
"
#
"
#
$
'
$
'
#
Applied Mechanics and Materials Vol. 393
727
"
"
)
?
)
.:@
"
(
"
>6
"
?/
"
)
"
"
4
"
96
"
6 66@
"
:@6
:56
9@66 2
728
Advances in Manufacturing and Mechanical Engineering
7B
"
78B
-
@6 "
"
"
#
)
<
"
(
$
#
0.1 3
0:1
#
89
;
)
,
+
;
<
2696?>: $:6..'
091
G 4
;
0>1 ! 4
4
,
3
3
3
4< "
!
<
2
3,
!
!
$+
051
<
$.775'.9H.?
!
H
081 = < C
23F
I4<
<
,
2*:666'
,
;
<
2
3) 3
@. H 5@ $.777'
2*77
2
$.788'
2
4< %
$:66.'
!
0@1 4 < "
+
(
+
2D2E:6.:E F $.@ 'E36.676
2
>?
@@@ H @@7 $:666'
3
" /
,
,
D
:9/>
85 $:669':97 H :>5
0?1
2
>96 $:66@'
!
5 D 23 ,
071 < I
I
"
2
0.61
I
(
<
3
3
2
.996 H .99@ $.77.'
,
3
9.@$:6.9'>?? H >7:
;
2
-
%
2
+
<
@ ,
"
"
D
3
>:6 H
3
/
Advances in Manufacturing and Mechanical Engineering
10.4028/www.scientific.net/AMM.393
Research Development of Energy Efficient Water Hydraulics Manipulator for Underwater Application
10.4028/www.scientific.net/AMM.393.723