Soft Gripper Design and Fabrication for Underwater Grasping

Abstract

Underwater manipulation with current robotics technology is a challenging task with significant limits in versatility and robustness terms. Such functionality has tremendous potential covering a broad spectrum of applications, mainly replacing divers performing hazardous jobs. Soft robotics provides an efficient solution for operating in these scenarios and adapting to uncertain environmental conditions. This paper presents the design and fabrication of a simple, low-cost, and easily deployable soft gripper for underwater manipulation. We use modelling and simulation techniques for designing the soft fluidic elastomer actuators that compose the soft gripper and additive manufacturing techniques for rapid test cycles and validation. These techniques allow for a fast redesign depending on the application requirements. The proposal combines materials and fabrication techniques to take advantage of their strengths. We validate the feasibility and ability of the proposed soft gripper in a challenging underwater scenario using a subaquatic vehicle.

Advanced Technologies and Applications of Robotic Soft Grippers

“…[ 193 ] However, the high environmental pressure in the marine environment severely limits the actuation method of the soft grip. [ 194 ] In addition, the corrosive environment in the deep sea also has a significant impact on the flexible structure of the soft gripper. By balancing the strain characteristics of the soft gripper structure, it is possible to avoid distortion and deformation caused by different strain rates at different points in high‐pressure environments.…”

Recent progress on underwater soft robots: adhesion, grabbing, actuating, and sensing

“…As a regional capturing gripper, the cage claw is limited by its own envelope structure, and its grasp performance for small objects is not as fine as that of the parallel claw ( Herrero-Pérez and Martínez-Barberá, 2022 ; Songlin et al, 2017 ). However, its regional capture ability for small marine creatures (e.g., moving fish) has shown unique advantages.…”