Research into underwater robotic applications is currently a growing field. There are many challenges involved in underwater robotics that are not present in other mediums, such as how the harsh environmental conditions that this environment invokes onto the robot and any equipment that is attached to the robot. In this paper an attachment to an underwater gripper is proposed that adds another Degree Of Freedom to the system, thus allowing the gripper to move along the belly of the robot. Adding this functionality to the gripper has many advantages, some of which involve the robot being able to easily pass a collected object to another robot with minimal interference. This attachment is constructed using 3D printed parts, a waterproofed servomotor and a leadscrew to provide linear motion to a commercial gripper.
E Conference publication, E1 Full written paper - refereed
Copyright notice
2016, IEEE
Title of proceedings
SoSE 2016: Proceesings of the 11th IEEE Systems of Systems Engineering Conference: System of systems and cyber physical systems, from academia to application and back
Event
Systems of Systems Engineering. Conference (11th: 2016: Kongsberg, Norway)