夹持器
水下
遥控水下航行器
人工智能
机器人学
计算机科学
采样(信号处理)
工程类
海洋工程
系统工程
机器人
机械工程
计算机视觉
移动机器人
海洋学
滤波器(信号处理)
地质学
作者
Angela Mazzeo,Jacopo Aguzzi,Marcello Calisti,Simonepietro Canese,F. Vecchi,Sérgio Stefanni,Marco Controzzi
出处
期刊:Sensors
[MDPI AG]
日期:2022-01-14
卷期号:22 (2): 648-648
被引量:23
摘要
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.
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