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A Modular Soft Robotic Wrist for Underwater Manipulation.

Shunichi Kurumaya1, Brennan T Phillips2,3,4, Kaitlyn P Becker2

  • 11 Department of Mechanical Engineering, Tokyo Institute of Technology , Tokyo, Japan .

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|April 20, 2018
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Researchers developed modular soft robotic wrists for precise deep-sea manipulation. These hydraulic-powered mechanisms, adaptable for terrestrial use, show promise for full ocean depth applications.

Keywords:
fiber-reinforced actuatorsoft robotic armunderwater manipulation

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Area of Science:

  • Robotics and Mechanical Engineering
  • Oceanographic Technology
  • Materials Science

Background:

  • Deep-sea exploration and manipulation require robust, precise robotic systems.
  • Existing robotic manipulators often lack the dexterity and adaptability for complex underwater tasks.
  • Soft robotics offers potential for compliant and adaptable manipulation in challenging environments.

Purpose of the Study:

  • To develop modular soft robotic wrist joint mechanisms for delicate and precise deep-sea manipulation.
  • To create adaptable actuators for submersibles and remotely operated vehicles (ROVs).
  • To characterize performance under varying pressures, including deep-sea conditions.

Main Methods:

  • Design and fabrication of modular rotary and bending soft robotic wrist joint mechanisms.
  • Actuation using hydraulic seawater for deep-sea applications and pneumatic pressure for terrestrial use.
  • Characterization of module performance by varying fiber number and silicone hardness.
  • Testing under ambient and high hydrostatic pressures equivalent to depths of at least 2300 m.

Main Results:

  • Successful development and characterization of modular soft robotic wrist joint mechanisms.
  • Demonstrated performance in both atmospheric and high-pressure deep-sea simulated conditions.
  • Modules can be combined to form a complete manipulator system.

Conclusions:

  • The developed modular soft robotic wrist is a significant advancement for deep-sea manipulation.
  • The design holds potential for operation at full ocean depths (>10,000 m).
  • This work contributes to the development of jointed underwater soft robotic arms.