万能真空吸着グリッパの水中適用と水中ドローンへの搭載

抄録

In recent years, with the deterioration of underwater structures, the underwater drones have been proposed to conduct inspections and work in the sea. In order to stably work in the flowing sea, the drone is desirable to fix itself to the wall surface by adhesion. In this study, we developed the sucker fish drone based on Universal Vacuum Gripper (in short UVG) which is a vacuum suction gripper attached to uneven surface and curved surface. We evaluate the performance of the UVG in underwater, for mounting it on underwater drones. In addition, we conducted the experiment to adhere on the wall like a sucker fish by the developed drone.