Additively manufactured soft pneumatic gripper integrated Remotely Operated Underwater Vehicle (ROV) for grasping archeological remains

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dc.contributor.authorGülnergiz, Emre Tuğberk
dc.contributor.authorDilibal, Savaş
dc.contributor.authorGörmüş, Bilal
dc.contributor.authorDanquah, Josiah Owusu
dc.contributor.authorEmon, Omar Faruk
dc.date.accessioned2024-06-13T20:16:05Z
dc.date.available2024-06-13T20:16:05Z
dc.date.issued2023
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2023 -- Istanbul -- 8-10 June 2023
dc.description.abstractThe use of Remote Operated Vehicles (ROVs) in underwater research has become widespread. However, conventional gripper systems are often inadequate for handling delicate underwater objects, such as archaeological artifacts. This study presents the development and integration of a soft pneumatic gripper into a ROV system, specifically designed for underwater archaeological applications. The soft gripper offers adaptability and compliance, ensuring safer and more precise grasping of fragile items. The manufactured soft force sensor is incorporated into the soft pneumatic gripper for tactile feedback, minimizing the risk of damage during handling. The gripper system also includes a pneumatic cylinder for extending its reach during grasping. Using Abaqus Finite Element Software, preliminary simulations were made to study the contact forces exerted by the gripper jaws. The numerical results, based on static non-linear analysis demonstrated the soft gripper's effectiveness, adaptability, and reliability on force feedback in land-based and underwater scenarios. This research contributes to the advancement of robotics for underwater archaeology by providing a soft pneumatic gripper system that enables safe and efficient handling of delicate artifacts.
dc.identifier.doi10.1109/HORA58378.2023.10156774
dc.identifier.isbn9798350337525
dc.identifier.scopus2-s2.0-85165673272
dc.identifier.scopusqualityN/A
dc.identifier.urihttps://doi.org/10.1109/HORA58378.2023.10156774
dc.identifier.urihttps://hdl.handle.net/11501/1019
dc.indekslendigikaynakScopus
dc.institutionauthorGülnergiz, Emre Tuğberk
dc.institutionauthorDilibal, Savaş
dc.institutionauthorGörmüş, Bilal
dc.institutionauthorid0000-0002-7024-9923
dc.institutionauthorid0000-0003-4777-7995
dc.institutionauthorid0000-0002-2173-7664
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectAdditive Manufacturing
dc.subjectRemotely Operated Vehicle (ROV)
dc.subjectSoft Pneumatic Gripper
dc.subjectSoft Robotics
dc.subjectSoft Sensor
dc.titleAdditively manufactured soft pneumatic gripper integrated Remotely Operated Underwater Vehicle (ROV) for grasping archeological remains
dc.typeConference Object

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