Underwater Vibration Adhesion by Frequency-Controlled Rigid Disc for Underwater Robotics Grasping

Yi Sun, Yangyi Hu, Yi Yang, Min Wang, Jiheng Ding, Huayan Pu, Wenchuan Jia

Abstract: Underwater adsorption is the key function of underwater robot operation, in order to complete the underwater wall fixation, underwater object capture and other operations. The underwater adhesion mechanism based on vibration control has the advantage of using the liquid viscosity to pull the object surface at a certain distance and control the adhesion effect by frequency. A disc of 0.5 mm thickness and 100 mm diameter can accommodate the adhesion of different rough planes at 50 Hz, a curved cup can be pulled and grabbed at a distance of 7 mm at 100 Hz, when 0.5 mm thick silicone spacers were attached to the bottom of the drive disc, the loading mass of the disc adhesion was increased from 76 g to 1056 g at a vibration frequency of 150 Hz. In short, the underwater vibration adhesion of rigid body is a new adhesion mechanism, which is expected to provide new ideas and applications in the field of underwater grasping.