User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection
Implementing manipulation and intervention capabilities in underwater vehicles is of crucial importance for commercial and scientific reasons. Mainstream underwater grippers are designed for the heavy load tasks typical of the industrial sector; however, due to the lack of alternatives, they are fre...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/4/771 |
| _version_ | 1797604796657565696 |
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| author | Giacomo Picardi Mauro De Luca Giovanni Chimienti Matteo Cianchetti Marcello Calisti |
| author_facet | Giacomo Picardi Mauro De Luca Giovanni Chimienti Matteo Cianchetti Marcello Calisti |
| author_sort | Giacomo Picardi |
| collection | DOAJ |
| description | Implementing manipulation and intervention capabilities in underwater vehicles is of crucial importance for commercial and scientific reasons. Mainstream underwater grippers are designed for the heavy load tasks typical of the industrial sector; however, due to the lack of alternatives, they are frequently used in biological sampling applications to handle irregular, delicate, and deformable specimens with a consequent high risk of damage. To overcome this limitation, the design of grippers for marine science applications should explicitly account for the requirements of end-users. In this paper, we aim at making a step forward and propose to systematically account for the needs of end-users by resorting to design tools used in industry for the conceptualization of new products which can yield great benefits to both applied robotic research and marine science. After the generation of the concept design for the gripper using a reduced version of the House of Quality and the Pugh decision matrix, we reported on its mechanical design, construction, and preliminary testing. The paper reports on the full design pipeline from requirements collection to preliminary testing with the aim of fostering and providing structure to fruitful interdisciplinary collaborations at the interface of robotics and marine science. |
| first_indexed | 2024-03-11T04:51:50Z |
| format | Article |
| id | doaj.art-3f2244eb3bb94417a89b50d1fd7f506a |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T04:51:50Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-3f2244eb3bb94417a89b50d1fd7f506a2023-11-17T19:55:48ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-03-0111477110.3390/jmse11040771User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter CollectionGiacomo Picardi0Mauro De Luca1Giovanni Chimienti2Matteo Cianchetti3Marcello Calisti4Institute of Marine Sciences, The Spanish National Research Council, 08003 Barcelona, SpainThe BioRobotics Institute, School of Advanced Studies Sant′Anna, 56025 Pisa, ItalyRed Sea Research Center, Division of Biological and Environmental Science and Engineering, King Abdullah University of Science and Technology, Thuwal 23955, Saudi ArabiaThe BioRobotics Institute, School of Advanced Studies Sant′Anna, 56025 Pisa, ItalyLincoln Institute for Agri-Food Technology, University of Lincoln, Lincoln LN6 7DQ, UKImplementing manipulation and intervention capabilities in underwater vehicles is of crucial importance for commercial and scientific reasons. Mainstream underwater grippers are designed for the heavy load tasks typical of the industrial sector; however, due to the lack of alternatives, they are frequently used in biological sampling applications to handle irregular, delicate, and deformable specimens with a consequent high risk of damage. To overcome this limitation, the design of grippers for marine science applications should explicitly account for the requirements of end-users. In this paper, we aim at making a step forward and propose to systematically account for the needs of end-users by resorting to design tools used in industry for the conceptualization of new products which can yield great benefits to both applied robotic research and marine science. After the generation of the concept design for the gripper using a reduced version of the House of Quality and the Pugh decision matrix, we reported on its mechanical design, construction, and preliminary testing. The paper reports on the full design pipeline from requirements collection to preliminary testing with the aim of fostering and providing structure to fruitful interdisciplinary collaborations at the interface of robotics and marine science.https://www.mdpi.com/2077-1312/11/4/771underwater roboticsunderwater manipulationsoft robotic gripperunderwater legged robotuser-driven designquality function deployment |
| spellingShingle | Giacomo Picardi Mauro De Luca Giovanni Chimienti Matteo Cianchetti Marcello Calisti User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection Journal of Marine Science and Engineering underwater robotics underwater manipulation soft robotic gripper underwater legged robot user-driven design quality function deployment |
| title | User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_full | User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_fullStr | User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_full_unstemmed | User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_short | User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_sort | user driven design and development of an underwater soft gripper for biological sampling and litter collection |
| topic | underwater robotics underwater manipulation soft robotic gripper underwater legged robot user-driven design quality function deployment |
| url | https://www.mdpi.com/2077-1312/11/4/771 |
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