Investigation of The Relationship between The Increase in Internal Volume and The Adsorption Force of The Underwater Adsorption Gripper for Scallops

Abstract

This study considers automatic scallop harvest using the drone with the robotic arm as the automation of the scallop fishery. The method needs the dedicated gripper attaching to the robot arm. This study judges the adsorption gripper as the dedicated gripper. When gripping an object with an adsorption gripper, the negative pressure inside the gripper during grasping is important. Negative pressure is generated by enlarging the internal space of the gripper. Therefore, this study investigated the relationship between the increase in volume of the enclosed space and the generated negative pressure. From the investigation result, the negative pressure is sufficient to grasp the scallop.