Additively Manufactured Soft Pneumatic Gripper Integrated Remotely Operated Underwater Vehicle (ROV) for Grasping Archeological Remains

The use of Remote Operated Vehicles (ROVs) in underwater research has become widespread. However, conventional gripper systems are often inadequate for handling delicate underwater objects, such as archaeological artifacts. This study presents the development and integration of a soft pneumatic gripper into a ROV system, specifically designed for underwater archaeological applications. The soft gripper offers adaptability and compliance, ensuring safer and more precise grasping of fragile items. The manufactured soft force sensor is incorporated into the soft pneumatic gripper for tactile feedback, minimizing the risk of damage during handling. The gripper system also includes a pneumatic cylinder for extending its reach during grasping. Using Abaqus Finite Element Software, preliminary simulations were made to study the contact forces exerted by the gripper jaws. The numerical results, based on static non-linear analysis demonstrated the soft gripper's effectiveness, adaptability, and reliability on force feedback in land-based and underwater scenarios. This research contributes to the advancement of robotics for underwater archaeology by providing a soft pneumatic gripper system that enables safe and efficient handling of delicate artifacts.

I. Introduction

The use of Remote Operated Vehicles (ROVs) has become prevalent in underwater research, as they provide a means to explore and excavate submerged archaeological sites. However, the commercial deep-sea manipulation systems primarily focus on construction and pipeline maintenance tasks, and their gripper systems are often designed for grasping rigid and heavy objects. When examining these conventional systems, it becomes evident that their electronic or hydraulic jaw grippers are not suitable for handling sensitive underwater objects. Whether they are archaeological artifacts or marine biology specimens, many underwater items require a gentle touch due to their fragile nature [1]–[4]. The use of rigid metallic grippers in such scenarios can potentially cause harm or damage to these valuable samples. Thus, the development of a novel gripper system specifically designed for underwater archaeological applications is imperative [5].