Vibration based adhesion for underwater robotic operation

Abstract

In the face of underwater non-magnetic wall environments, the existing underwater adsorption mechanisms are difficult to achieve continuous adhesion without destroying the surface, and the combination of vibration and underwater adsorption will help to solve this problem. The underwater vibration adhesion mechanism of rigid body proposed in this paper uses vibration to form adhesion on the surface of the object, and explores the influence of vibration frequency, driving current and driving disc radius from the perspective of displacement change, and tests the application: A stainless steel disc with a thickness of 0.5 mm and a radius of 50 mm can continuously adhere to a mass load of 1 Kg at a frequency of 150 Hz, and can adhere to the surface of seashells at a frequency of 100 Hz. The underwater vibration adhesion of rigid body is a new adhesion technology, which can be used in the fields of underwater wall climbing robots and underwater object grasping.