Gotta catch 'em all, safely! Aerial-deployed soft underwater gripper

TL;DR

This paper introduces a lightweight, drone-deployable underwater soft gripper system that minimizes water disturbance, enhances navigation, and successfully performs object grasping in underwater environments, expanding operational capabilities.

Contribution

A novel underwater soft gripper framework with a custom submarine pod and drone deployment, reducing ecosystem disturbance and improving underwater grasping efficiency.

Findings

Successfully tested on objects of various shapes and sizes

Achieved a maximum pulling force of 8 N underwater

Demonstrated deployment and operation in a lake environment

Abstract

Underwater soft grippers exhibit potential for applications such as monitoring, research, and object retrieval. However, existing underwater gripping techniques frequently cause disturbances to ecosystems. In response to this challenge, we present a novel underwater gripping framework comprising a lightweight gripper affixed to a custom submarine pod deployable via drone. This approach minimizes water disturbance and enables efficient navigation to target areas, enhancing overall mission effectiveness. The pod allows for underwater motion and is characterized by four degrees of freedom. It is provided with a custom buoyancy system, two water pumps for differential thrust and two for pitching. The system allows for buoyancy adjustments up to a depth of 6 meters, as well as motion in the plane. The 3-fingered gripper is manufactured out of silicone and was successfully tested on objects with different shapes and sizes, demonstrating a maximum pulling force of up to 8 N when underwater. The reliability of the submarine pod was tested in a water tank by tracking its attitude and energy consumption during grasping maneuvers. The system also accomplished a successful mission in a lake, where it was deployed on a hexacopter. Overall, the integration of this system expands the operational capabilities of underwater grasping, makes grasping missions more efficient and easy to automate, as well as causing less disturbance to the water ecosystem.