Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers

Mazzeo, Angelo, Aguzzi, Jacopo, Calisti, Marcello , Canese, Simonpietro, Vecchi, Fabrizio, Stefanni, Sergio and Controzzi, Marco (2022) Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers. Sensors, 22 (2). p. 648. ISSN 1424-8220

Full content URL: https://doi.org/10.3390/s22020648

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Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers
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Abstract

The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper.

Keywords:underwater gripper, ROV gripper, underwater manipulation, underwater end-effector, robotic underwater hands, marine biological sampling
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:52101
Deposited On:19 Oct 2022 13:26

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