. Development of an underwater manipulator for use on a free-swimming unmanned submersible. Manipulators (Mechanism); Oceanographic submersibles. 28. Install the circular spline so that the teeth mesh concentrically (see "ASSEMBLY" below) Check this visually or with a feeler gauge. 29. Put a few drops of oil (see 27) on the teeth of the circular spline and the flexpline. ASSEMBLY It is essential that the C/S and F/S toothmesh concentrically engage for proper function as noted below. The unit will function in what is de- fined as the "dedoidal" state, but will be subject to
. Development of an underwater manipulator for use on a free-swimming unmanned submersible. Manipulators (Mechanism); Oceanographic submersibles. 28. Install the circular spline so that the teeth mesh concentrically (see "ASSEMBLY" below) Check this visually or with a feeler gauge. 29. Put a few drops of oil (see 27) on the teeth of the circular spline and the flexpline. ASSEMBLY It is essential that the C/S and F/S toothmesh concentrically engage for proper function as noted below. The unit will function in what is de- fined as the "dedoidal" state, but will be subject to reduced MINOR AXIS CONCENTRIC DEDOIDAL A correct assembly is checked in one of two ways. 1. When the toothmesh is exposed, a visual or feeler gage check for equal tooth clearance (A) is made as noted above. 2. In a blind assembly, an access hole adjacent to the C/S provides the means for indicating the motion of a correctly assembled F/S as noted below for one revolution of the W/G. .s -^?JB:::i u PniWTFO CONCENTRIC 1REV ^3 61. Please note that these images are extracted from scanned page images that may have been digitally enhanced for readability - coloration and appearance of these illustrations may not perfectly resemble the original Bosse, Peter; Heckman, P. J; Naval Ocean Systems Center (U. S. ). San Diego, Calif. : Naval Ocean Systems Center ; Alexandria, Va. : distributed by Defense Technical Information Center
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