Abstract
In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.
Highlights
OpenROV is a community developed remotely operated submersible vehicle designed to make underwater exploration and education affordable
Grippers are an essential component of underwater exploration vehicles
Gripper types vary in mechanical design, actuation methods, and motion control
Summary
OpenROV is a community developed remotely operated submersible vehicle designed to make underwater exploration and education affordable. In underwater environment monitoring, exploration, and subsea ROV development [1,2]. Grippers are an essential component of underwater exploration vehicles. Gripper types vary in mechanical design, actuation methods, and motion control. To perform grip force control, sensors are required. Such as tip force sensors, vacuum pressure, and motor current-draw sensors. The aim of this work is to design a multi-fingered gripper module for the OpenROV submersible. The gripper module consists of three fingers, each finger consists of two independently actuated links. Mechanical design, forward kinematics, and the workspace are presented, in addition to an estimation of the maximum force exerted by the fingertips. The model is of second order and the stability analysis showed a stable system
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