Abstract
The ocean has been an important research site for scientists in recent years. Many marine creatures with soft bodies such as sea cucumbers are fragile and easily deformed, so it is difficult when grasping these kinds of targets. In this regard, this study developed an underwater soft robot gripper based on a bionic structure. By imitating the envelope structure of the Venus flytrap, the soft robot gripper was designed with a soft finger envelope plate, and the structure was designed by imitating human finger fingerprints. The large and small pressure chambers of soft fingers were designed with the characteristics of different lengths of the segments. By adopting these bionic elements, the grasping ability of the gripper has been greatly improved. The structural parameter optimization design of soft fingers, based on finite element simulation, has been described detailed in the paper. The declination between the simulation results and the actual results is very small, which proves that the accuracy of the optimization method is high. In the simulated underwater environment, some models and living sea cucumbers were grasped for tests. Finally, the experimental results proved that the soft robot gripper can achieve the goal of stable grasping for different objects.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Teoh, Z.E., Phillips, B.T., Becker, K.P., et al.: Rotary-actuated folding polyhedrons for midwater investigation of delicate marine organisms. Sci. Robot. 3(20) (2018). https://doi.org/10.1126/scirobotics.aat5276
Xie, Z.X., Domel, A.G., An, N., et al.: Octopus arm-inspired tapered soft actuators with suckers for improved grasping. Soft Robot. 7(5), 639–648 (2020)
Vogt, D.M., Becker, K.P., Phillips, B.T., et al.: Shipboard design and fabrication of custom 3D-printed soft robotic manipulators for the investigation of delicate deep-sea organisms. PLoS One 13(8) (2018). https://doi.org/10.1371/journal.pone.0200386
Phillips, B.T., Becker, K.P., Kurumaya, S., et al.: A dexterous, glove-based teleoperable low-power soft robotic arm for delicate deep-sea biological exploration. Sci. Rep. 8(1) (2018). https://doi.org/10.1038/s41598-018-33138-y
Aguzzi, J., Costa, C., Calisti, M., et al.: Research trends and future perspectives in marine biomimicking robotics. Sensors 21(11) (2021). https://doi.org/10.3390/s21113778
Chen, Y.Z., Zhang, Q.F., Tian, Q.Y., et al.: Research status of underwater multi-fingered hands. Robot 42(6), 749–768 (2020)
Marvi, H., Gong, C.H., Gravish, N., et al.: Sidewinding with minimal slip: snake and robot ascent of sandy slopes. Science 346(6206), 224–229 (2014)
Zhang, Z., Ni, X.Q., Gao, W.L., et al.: Pneumatically controlled reconfigurable bistable bionic flower for robotic gripper. Soft Robot. (2021). https://doi.org/10.1089/soro.2020.0200
Galloway, K.C., Becker, K.P., Phillips, B., et al.: Soft robotic grippers for biological sampling on deep reefs. Soft Robot. 3(1), 23–33 (2016)
Mosadegh, B., Polygerinos, P., Keplinger, C., et al.: Pneumatic networks for soft robotics that actuate rapidly. Adv. Funct. Mater. 24(15), 2163–2170 (2014)
Kurumaya, S., Phillips, B.T., Becker, K.P., et al.: A modular soft robotic wrist for underwater manipulation. Soft Robot. 5(4), 399–409 (2018)
Luo, S.J., Wang, S., Cheng, G.G., et al.: Designing, manufacturing and controlling of the elastic materials based bionic hand. J. Mech. Eng. 55(11), 69–75 (2019)
Terryn, S., Brancart, J., Lefeber, D., et al.: Self-healing soft pneumatic robots. Sci. Robot. 2(9) (2017). https://doi.org/10.1126/scirobotics.aan4268
Nasab, A.M., Sabzehzar, A., Tatari, M., et al.: A soft gripper with rigidity tunable elastomer strips as ligaments. Soft Robot. 4(4), 411–420 (2017)
Feng, N., Shi, Q., Wang, H., et al.: A soft robotic hand: design, analysis, sEMG, control, and experiment. Int. J. Adv. Manuf. Technol. 97(1–4), 319–333 (2018). https://doi.org/10.1007/s00170-018-1949-2
Sinatra, N.R., Teeple, C.B., Vogt, D.M., et al.: Ultragentle manipulation of delicate structures using a soft robotic gripper. Sci. Robot. 4(33) (2019). https://doi.org/10.1126/scirobotics.aax5425
Dong, H., Wang, B.X., Li, W., et al.: The deformation mechanism of soft hand based on one-way pneumatic actuator. J. Donghua Univ. 46(2), 288–296 (2020)
Liu, W.H., Hu, J., Wang, W.M.: Soft gripper grasping based on complete grasp configuration and multi-stage network. J. Shanghai Jiaotong Univ. 54(5), 507–514 (2020). https://doi.org/10.16183/j.cnki.jsjtu.2020.05.008
Wu, Z.P., Li, X.N.: Grasping strategy of a soft gripper with endoskeleton structure. Chin. Hydraul. Pneumatics 45(4), 61–68 (2021)
Subramaniam, V., Jain, S., Agarwal, J., et al.: Design and characterization of a hybrid soft gripper with active palm pose control. Int. J. Robot. Res. 39(14), 1668–1685 (2020)
Huang, J.L., Xie, G.J., Liu, Z.W.: FEA of hyperelastic rubber material based on Mooney-Rivlin model and Yeoh model. China Rubber Ind. 55(8), 467–471 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Dou, J., Zhang, D., Sun, Y., Fu, X., Zhao, X. (2022). Design of Enveloping Underwater Soft Gripper Based on the Bionic Structure. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_28
Download citation
DOI: https://doi.org/10.1007/978-3-031-13835-5_28
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-13834-8
Online ISBN: 978-3-031-13835-5
eBook Packages: Computer ScienceComputer Science (R0)