User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection
15 pages, 9 figures, 6 tables.-- Data Availability Statement: No new data were created
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| Format: | artículo biblioteca |
| Language: | English |
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Multidisciplinary Digital Publishing Institute
2023-03
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| Subjects: | Underwater robotics, Underwater manipulation, Soft robotic gripper, Underwater legged robot, User-driven design, Quality function deployment, House of quality, Pugh decision matrix, |
| Online Access: | http://hdl.handle.net/10261/330906 |
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dig-icm-es-10261-3309062023-07-20T11:37:40Z User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection Picardi, Giacomo De Luca, Mauro Chimienti, Giovanni Cianchetti, Matteo Calisti, Marcello National Geographic Society Generalitat de Catalunya Agencia Estatal de Investigación (España) Underwater robotics Underwater manipulation Soft robotic gripper Underwater legged robot User-driven design Quality function deployment House of quality Pugh decision matrix 15 pages, 9 figures, 6 tables.-- Data Availability Statement: No new data were created Implementing manipulation and intervention capabilities in underwater vehicles is of crucial importance for commercial and scientific reasons. Mainstream underwater grippers are designed for the heavy load tasks typical of the industrial sector; however, due to the lack of alternatives, they are frequently used in biological sampling applications to handle irregular, delicate, and deformable specimens with a consequent high risk of damage. To overcome this limitation, the design of grippers for marine science applications should explicitly account for the requirements of end-users. In this paper, we aim at making a step forward and propose to systematically account for the needs of end-users by resorting to design tools used in industry for the conceptualization of new products which can yield great benefits to both applied robotic research and marine science. After the generation of the concept design for the gripper using a reduced version of the House of Quality and the Pugh decision matrix, we reported on its mechanical design, construction, and preliminary testing. The paper reports on the full design pipeline from requirements collection to preliminary testing with the aim of fostering and providing structure to fruitful interdisciplinary collaborations at the interface of robotics and marine science This research was funded by the National Geographic Society (grant agreement No. NGS-56544T-19) and by the Agencia de Gestión de Ayudas Universitarias y de Investigación (AGAUR) of the Generalitat de Catalunya through the Beatriu de Pinos postdoctoral fellowship program (grant number 2021 BP 00039) With the institutional support of the ‘Severo Ochoa Centre of Excellence’ accreditation (CEX2019-000928-S) Peer reviewed 2023-07-12T10:11:27Z 2023-07-12T10:11:27Z 2023-03 artículo Journal of Marine Science and Engineering 11(4): 771 (2023) CEX2019-000928-S http://hdl.handle.net/10261/330906 10.3390/jmse11040771 2077-1312 en Publisher's version https://doi.org/10.3390/jmse11040771 Sí open Multidisciplinary Digital Publishing Institute |
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biblioteca |
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Biblioteca del ICM España |
| language |
English |
| topic |
Underwater robotics Underwater manipulation Soft robotic gripper Underwater legged robot User-driven design Quality function deployment House of quality Pugh decision matrix Underwater robotics Underwater manipulation Soft robotic gripper Underwater legged robot User-driven design Quality function deployment House of quality Pugh decision matrix |
| spellingShingle |
Underwater robotics Underwater manipulation Soft robotic gripper Underwater legged robot User-driven design Quality function deployment House of quality Pugh decision matrix Underwater robotics Underwater manipulation Soft robotic gripper Underwater legged robot User-driven design Quality function deployment House of quality Pugh decision matrix Picardi, Giacomo De Luca, Mauro Chimienti, Giovanni Cianchetti, Matteo Calisti, Marcello User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| description |
15 pages, 9 figures, 6 tables.-- Data Availability Statement: No new data were created |
| author2 |
National Geographic Society |
| author_facet |
National Geographic Society Picardi, Giacomo De Luca, Mauro Chimienti, Giovanni Cianchetti, Matteo Calisti, Marcello |
| format |
artículo |
| topic_facet |
Underwater robotics Underwater manipulation Soft robotic gripper Underwater legged robot User-driven design Quality function deployment House of quality Pugh decision matrix |
| author |
Picardi, Giacomo De Luca, Mauro Chimienti, Giovanni Cianchetti, Matteo Calisti, Marcello |
| author_sort |
Picardi, Giacomo |
| title |
User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_short |
User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_full |
User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_fullStr |
User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_full_unstemmed |
User-Driven Design and Development of an Underwater Soft Gripper for Biological Sampling and Litter Collection |
| title_sort |
user-driven design and development of an underwater soft gripper for biological sampling and litter collection |
| publisher |
Multidisciplinary Digital Publishing Institute |
| publishDate |
2023-03 |
| url |
http://hdl.handle.net/10261/330906 |
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AT picardigiacomo userdrivendesignanddevelopmentofanunderwatersoftgripperforbiologicalsamplingandlittercollection AT delucamauro userdrivendesignanddevelopmentofanunderwatersoftgripperforbiologicalsamplingandlittercollection AT chimientigiovanni userdrivendesignanddevelopmentofanunderwatersoftgripperforbiologicalsamplingandlittercollection AT cianchettimatteo userdrivendesignanddevelopmentofanunderwatersoftgripperforbiologicalsamplingandlittercollection AT calistimarcello userdrivendesignanddevelopmentofanunderwatersoftgripperforbiologicalsamplingandlittercollection |
| _version_ |
1777667990881304576 |