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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Detalhes bibliográficos
Autores: Solis, Alejandro, Pino, A., López, S., Marín, R., Sanz, P. J.
Tipo de documento: artigo
Data de publicação:2025
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositório:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglês
OAI Identifier:oai:upcommons.upc.edu:2117/450894
Acesso em linha:https://hdl.handle.net/2117/450894
https://dx.doi.org/10.5821/iwp.2025.24.13986
Access Level:Acceso aberto
Palavra-chave: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
repository_id_str
spelling Towards the design of a sensorized hybrid end effector for underwater operationsSolis, AlejandroPino, A.López, S.Marín, R.Sanz, P. J.Oceanography -- ResearchOceanography -- Equipment and suppliesRoboticsSubmarines (Ships)Underwater roboticsUnderwater manipulationMarine scienceOceanografia -- InvestigacióOceanografia -- Aparells i instrumentsRobòticaSubmarinsÀrees temàtiques de la UPC::Enginyeria civil::Geologia::OceanografiaÀrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesuraÀrees temàtiques de la UPC::Informàtica::RobòticaThe 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 ReviewedSARTI20252025-01-0120262026-01-20journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/450894https://dx.doi.org/10.5821/iwp.2025.24.13986reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4508942026-05-27T15:37:01Z
dc.title.none.fl_str_mv Towards the design of a sensorized hybrid end effector for underwater operations
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
dc.creator.none.fl_str_mv Solis, Alejandro
Pino, A.
López, S.
Marín, R.
Sanz, P. J.
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
dc.subject.none.fl_str_mv 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 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
dc.date.none.fl_str_mv 2025
2025-01-01
2026
2026-01-20
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/450894
https://dx.doi.org/10.5821/iwp.2025.24.13986
url https://hdl.handle.net/2117/450894
https://dx.doi.org/10.5821/iwp.2025.24.13986
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv SARTI
publisher.none.fl_str_mv SARTI
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.81155

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