Towards the design of a sensorized hybrid end effector for underwater operations

The use of underwater vehicles equipped with manipulator arms is gaining popularity each year as a safer alternative to performing tasks that pose significant risks to divers. However, in marine sciences, many existing manipulator arms are heavy, costly, and poorly suited to the specific needs of ma...

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Detalles Bibliográficos
Autores: Solis, Alejandro, Pino, A., López, S., Marín, R., Sanz, P. J.
Tipo de recurso: artículo
Fecha de publicación:2025
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/450894
Acceso en línea:https://hdl.handle.net/2117/450894
https://dx.doi.org/10.5821/iwp.2025.24.13986
Access Level:acceso abierto
Palabra clave:Oceanography -- Research
Oceanography -- Equipment and supplies
Robotics
Submarines (Ships)
Underwater robotics
Underwater manipulation
Marine science
Oceanografia -- Investigació
Oceanografia -- Aparells i instruments
Robòtica
Submarins
Àrees temàtiques de la UPC::Enginyeria civil::Geologia::Oceanografia
Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura
Àrees temàtiques de la UPC::Informàtica::Robòtica
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oai_identifier_str oai:upcommons.upc.edu:2117/450894
network_acronym_str ES
network_name_str España
spelling Towards the design of a sensorized hybrid end effector for underwater operations Solis, Alejandro Pino, A. López, S. Marín, R. Sanz, P. J. Oceanography -- Research Oceanography -- Equipment and supplies Robotics Submarines (Ships) Underwater robotics Underwater manipulation Marine science Oceanografia -- Investigació Oceanografia -- Aparells i instruments Robòtica Submarins Àrees temàtiques de la UPC::Enginyeria civil::Geologia::Oceanografia Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura Àrees temàtiques de la UPC::Informàtica::Robòtica The use of underwater vehicles equipped with manipulator arms is gaining popularity each year as a safer alternative to performing tasks that pose significant risks to divers. However, in marine sciences, many existing manipulator arms are heavy, costly, and poorly suited to the specific needs of marine biologists. This paper is a continuation of the proposal for a versatile, modular and affordable manipulator presented in a previous paper [1]. In summary, the current contribution focuses on the development of an end effector designed to meet the challenges of collecting samples of marine organisms using underwater vehicles. This paper has been partially funded by the Conselleria de Inno- vación, Universidades, Ciencia y Empleo, Generalitat Valenciana under Artemisa (CIPROM/2023/47) grant, and by GVA ThinkInA- zul/2021/037 grant. Peer Reviewed SARTI https://hdl.handle.net/2117/450894 https://dx.doi.org/10.5821/iwp.2025.24.13986
title Towards the design of a sensorized hybrid end effector for underwater operations
spellingShingle Towards the design of a sensorized hybrid end effector for underwater operations
Solis, Alejandro
Oceanography -- Research
Oceanography -- Equipment and supplies
Robotics
Submarines (Ships)
Underwater robotics
Underwater manipulation
Marine science
Oceanografia -- Investigació
Oceanografia -- Aparells i instruments
Robòtica
Submarins
Àrees temàtiques de la UPC::Enginyeria civil::Geologia::Oceanografia
Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Towards the design of a sensorized hybrid end effector for underwater operations
title_full Towards the design of a sensorized hybrid end effector for underwater operations
title_fullStr Towards the design of a sensorized hybrid end effector for underwater operations
title_full_unstemmed Towards the design of a sensorized hybrid end effector for underwater operations
title_sort Towards the design of a sensorized hybrid end effector for underwater operations
author Solis, Alejandro
author_facet Solis, Alejandro
Pino, A.
López, S.
Marín, R.
Sanz, P. J.
author_role author
author2 Pino, A.
López, S.
Marín, R.
Sanz, P. J.
author2_role author
author
author
author
topic Oceanography -- Research
Oceanography -- Equipment and supplies
Robotics
Submarines (Ships)
Underwater robotics
Underwater manipulation
Marine science
Oceanografia -- Investigació
Oceanografia -- Aparells i instruments
Robòtica
Submarins
Àrees temàtiques de la UPC::Enginyeria civil::Geologia::Oceanografia
Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic_facet Oceanography -- Research
Oceanography -- Equipment and supplies
Robotics
Submarines (Ships)
Underwater robotics
Underwater manipulation
Marine science
Oceanografia -- Investigació
Oceanografia -- Aparells i instruments
Robòtica
Submarins
Àrees temàtiques de la UPC::Enginyeria civil::Geologia::Oceanografia
Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura
Àrees temàtiques de la UPC::Informàtica::Robòtica
description The use of underwater vehicles equipped with manipulator arms is gaining popularity each year as a safer alternative to performing tasks that pose significant risks to divers. However, in marine sciences, many existing manipulator arms are heavy, costly, and poorly suited to the specific needs of marine biologists. This paper is a continuation of the proposal for a versatile, modular and affordable manipulator presented in a previous paper [1]. In summary, the current contribution focuses on the development of an end effector designed to meet the challenges of collecting samples of marine organisms using underwater vehicles.
publishDate 2025
format article
url https://hdl.handle.net/2117/450894
https://dx.doi.org/10.5821/iwp.2025.24.13986
language eng
eu_rights_str_mv openAccess
publisher SARTI
institution Universitat Politècnica de Catalunya (UPC)
collection UPCommons. Portal del coneixement obert de la UPC
reponame_str UPCommons. Portal del coneixement obert de la UPC
instname_str Universitat Politècnica de Catalunya (UPC)
_version_ 1878443254136963072
publishDateSort 2025
author_browse López, S.
Marín, R.
Pino, A.
Sanz, P. J.
Solis, Alejandro
publisherStr SARTI
score 6,924472

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