1-DOF Submergible Gripper using Forward and Reverse Compound Planetary Gearboxes

Abstract

In general, underwater robot joints are sealed by waterproof seals such as O-rings and V-rings to prevent exposure of motors, reduction gears, sensors, and other components to water. However, sealing materials have poor sliding properties, which not only reduces the efficiency of motion, but also makes contact work difficult due to the high rigidity of the joint. This paper reports the results of applying a submergible geared electric servomotor without any waterproof seals to an underwater gripper.