Research on gripping performance for underwater sand-covered objects (scallops)

Abstract

The current scallop fishing has some problems. The fishing can not harvest the natural scallops for raw consumption by the problems. To solve the problems, this study proposes a new method using a robot arm. The new method needs a gripper attaching a robot arm. From some demands that meet for scallops gripping, this research judge a suction gripper gripping with negative pressure is suitable to harvest the scallops. However, a suction gripper has disadvantages for gripping the scallops. Therefore, we develop a new gripper with a built-in spring to improve the disadvantages. Additionally, this study experiments with the developed gripper and evaluates the developed gripper.