Additively Manufactured Soft Pneumatic Gripper Integrated Remotely Operated Underwater Vehicle (ROV) for Grasping Archeological Remains

Basit Öğe Kaydı
dc.authorscopusid57796527500
dc.authorscopusid6506581868
dc.authorscopusid57222705093
dc.authorscopusid56415123800
dc.authorscopusid58416511600
dc.contributor.authorGulnergiz, E.T.
dc.contributor.authorDilibal, S.
dc.contributor.authorGormus, B.
dc.contributor.authorDanquah, J.O.
dc.contributor.authorEmon, O.F.
dc.date.accessioned2024-06-13T20:16:05Z
dc.date.available2024-06-13T20:16:05Z
dc.date.issued2023
dc.departmentİstanbul Gedik Üniversitesi
dc.description5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2023 -- 8 June 2023 through 10 June 2023 -- -- 190025
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. © 2023 IEEE.
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.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofHORA 2023 - 2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedings
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.subjectAdditives
dc.subjectFeedback
dc.subjectGrippers
dc.subjectPneumatics
dc.subjectReliability analysis
dc.subjectRemote control
dc.subjectRemotely operated vehicles
dc.subjectArchaeological artifacts
dc.subjectGripper systems
dc.subjectPneumatic grippers
dc.subjectRemotely operated vehicle
dc.subjectSoft pneumatic gripper
dc.subjectSoft robotics
dc.subjectSoft sensors
dc.subjectTactile feedback
dc.subjectUnderwater objects
dc.subjectVehicle system
dc.subject3D printing
dc.titleAdditively Manufactured Soft Pneumatic Gripper Integrated Remotely Operated Underwater Vehicle (ROV) for Grasping Archeological Remains
dc.typeConference Object

Dosyalar

Koleksiyon

Scopus İndeksli Yayınlar Koleksiyonu