Design of a Soft Underwater Gripper With SMA Actuation

Jovana Jovanova; S.C.S. Var

doi:10.1115/SMASIS2023-111702

Design of a Soft Underwater Gripper With SMA Actuation

Transport Engineering and Logistics

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Abstract

Underwater robot tasks pose many challenges for conventional robotic systems. The current rigid robots are limited in their adaptability to the environment and the objects to be manipulated. Soft grasping of objects offers advantages due to the flexibility when dealing with, for example, living organisms, random shaped objects, and coral reefs. Additionally, conventional robotic systems face difficulties when exploring the planet's deep waters due to higher pressures and susceptibility of the often large amount of electronics to underwater conditions. Smart materials such as shape memory alloys can be more advantageous for the actuation of soft robotic underwater grippers because there is less need for complex electronic systems. Therefore, this project explores the use of smart materials for the actuation of a soft robotic underwater gripper. With this aim, three different gripper designs were made and evaluated. Various flexible materials, smart materials, 3D printing settings, numerous gripper configurations, and manufacturing methods are investigated. The gripper is intended to be a maintenance and inspection add-on for an underwater autonomous vehicle.

Original language	English
Title of host publication	Proceedings of ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2023
Publisher	American Society of Mechanical Engineers
Number of pages	8
ISBN (Electronic)	978-0-7918-8752-3
DOIs	https://doi.org/10.1115/SMASIS2023-111702
Publication status	Published - 2023
Event	16th Annual ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2023 - Austin, United States Duration: 11 Sept 2023 → 13 Sept 2023

Conference

Conference	16th Annual ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2023
Country/Territory	United States
City	Austin
Period	11/09/23 → 13/09/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

3D printing
compliant mechanisms
shape memory alloys
smart materials
Soft robotics

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10.1115/SMASIS2023-111702

SMASIS2023-111702Final published version, 3.89 MB

Cite this

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title = "Design of a Soft Underwater Gripper With SMA Actuation",

abstract = "Underwater robot tasks pose many challenges for conventional robotic systems. The current rigid robots are limited in their adaptability to the environment and the objects to be manipulated. Soft grasping of objects offers advantages due to the flexibility when dealing with, for example, living organisms, random shaped objects, and coral reefs. Additionally, conventional robotic systems face difficulties when exploring the planet's deep waters due to higher pressures and susceptibility of the often large amount of electronics to underwater conditions. Smart materials such as shape memory alloys can be more advantageous for the actuation of soft robotic underwater grippers because there is less need for complex electronic systems. Therefore, this project explores the use of smart materials for the actuation of a soft robotic underwater gripper. With this aim, three different gripper designs were made and evaluated. Various flexible materials, smart materials, 3D printing settings, numerous gripper configurations, and manufacturing methods are investigated. The gripper is intended to be a maintenance and inspection add-on for an underwater autonomous vehicle.",

keywords = "3D printing, compliant mechanisms, shape memory alloys, smart materials, Soft robotics",

author = "Jovana Jovanova and S.C.S. Var",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 16th Annual ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2023 ; Conference date: 11-09-2023 Through 13-09-2023",

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Jovanova, J & Var, SCS 2023, Design of a Soft Underwater Gripper With SMA Actuation. in Proceedings of ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2023., v001t06a013, American Society of Mechanical Engineers, 16th Annual ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2023, Austin, United States, 11/09/23. https://doi.org/10.1115/SMASIS2023-111702

Design of a Soft Underwater Gripper With SMA Actuation. / Jovanova, Jovana; Var, S.C.S.
Proceedings of ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2023. American Society of Mechanical Engineers, 2023. v001t06a013.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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PY - 2023

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N2 - Underwater robot tasks pose many challenges for conventional robotic systems. The current rigid robots are limited in their adaptability to the environment and the objects to be manipulated. Soft grasping of objects offers advantages due to the flexibility when dealing with, for example, living organisms, random shaped objects, and coral reefs. Additionally, conventional robotic systems face difficulties when exploring the planet's deep waters due to higher pressures and susceptibility of the often large amount of electronics to underwater conditions. Smart materials such as shape memory alloys can be more advantageous for the actuation of soft robotic underwater grippers because there is less need for complex electronic systems. Therefore, this project explores the use of smart materials for the actuation of a soft robotic underwater gripper. With this aim, three different gripper designs were made and evaluated. Various flexible materials, smart materials, 3D printing settings, numerous gripper configurations, and manufacturing methods are investigated. The gripper is intended to be a maintenance and inspection add-on for an underwater autonomous vehicle.

AB - Underwater robot tasks pose many challenges for conventional robotic systems. The current rigid robots are limited in their adaptability to the environment and the objects to be manipulated. Soft grasping of objects offers advantages due to the flexibility when dealing with, for example, living organisms, random shaped objects, and coral reefs. Additionally, conventional robotic systems face difficulties when exploring the planet's deep waters due to higher pressures and susceptibility of the often large amount of electronics to underwater conditions. Smart materials such as shape memory alloys can be more advantageous for the actuation of soft robotic underwater grippers because there is less need for complex electronic systems. Therefore, this project explores the use of smart materials for the actuation of a soft robotic underwater gripper. With this aim, three different gripper designs were made and evaluated. Various flexible materials, smart materials, 3D printing settings, numerous gripper configurations, and manufacturing methods are investigated. The gripper is intended to be a maintenance and inspection add-on for an underwater autonomous vehicle.

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ER -

Design of a Soft Underwater Gripper With SMA Actuation

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Keywords

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