Deep-sea Performance Migration Characteristics of Low-speed High-torque Water-hydraulic Motor
In order to ensure the stable operation of the rotary joint in the deep-sea hydraulic manipulator,a new type of valve-coupled,low-speed,high-torque water-hydraulic motor is developed.Mathematical and physical models for the motor are created,and an integrated design with the manipulator's wrist joint is completed.The effect of the deep sea environment on the output performance of the motor is analyzed using the AMESim simulation model.It is observed that as the sea depth increases,the motor's output torque decreases significantly,and the output speed also changes to some extent.The motor's output torque decreases by 34％with an increase in ambient pressure from 0 MPa to 120 MPa.However,the maximum stable speed increases by 13％compared to onshore working conditions.This study offers a theoretical foundation for optimizing the motor structure and controlling deep-sea operations.
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