Unmotorize ROV gripper to catch profiling floats

Abstract

This paper proposes an ROV (Remotely Operated underwater Vehicle) gripper for retrieving cylindrical profiling floats. In order to fit several types of ROVs and to be easily installed, the gripper is not motorized, using only the robot’s movements to catch the floats by simply moving forward on them. Then, the gripper uses the turnstile and freewheel concept to grasp and hold the float, with a safety release system to free an unwanted catch. The effectiveness of the clamp was tested in the pool and in the lake, with two actual rescues of lost floats. The limits of the methods are discussed.