Exploring the Deep Sea

Combining a Bistable Mechanism with Origami-Inspired Soft Actuators

verfasst von

Cora Maria Sourkounis, Ditzia Susana Garcia Morales, Tom Kwasnitschka, Annika Raatz

Abstract

Sediment sampling is a prevalent approach for ex-ploring and understanding the ocean and its change over time. Unfortunately, the sampling process can be very costly due to the logistics that involve the transportation and deployment of the Remotely Operative Vehicle (ROV), specifically designed for this task. In a collaboration of marine scientists and engineers, this work focuses on developing a lightweight, modular and cost efficient actuation system for deep-sea suction-sampling. We propose a binary actuation system to manipulate the sampling tube directly instead of the tube being guided by a traditional manipulator. The core of the actuation system are bistable actuators that combine origami-inspired soft actuators with a bistable mechanism to form a lightweight but still robust system. This concept aims to lower the cost of deep-sea sediment sampling by offering the option to replace the currently used hydraulic titanium manipulator, that is traditionally used for deep-sea research. We present the design, manufacturing and proof of concept for the combination of a origami-inspired soft actuator with a bistable mechanism.

Organisationseinheit(en)

Institut für Montagetechnik und Industrierobotik

Externe Organisation(en)

GEOMAR Helmholtz-Zentrum für Ozeanforschung Kiel

Typ

Aufsatz in Konferenzband

Seiten

115-120

Anzahl der Seiten

6

Publikationsdatum

2024

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Artificial intelligence, Maschinelles Sehen und Mustererkennung, Werkstoffwissenschaften (sonstige), Steuerung und Optimierung, Modellierung und Simulation, Instrumentierung

Ziele für nachhaltige Entwicklung

SDG 14 – Lebensraum Wasser

Elektronische Version(en)

https://doi.org/10.1109/RoboSoft60065.2024.10521929 (Zugang: Geschlossen)