Sourkounis, Cora Maria, Garcia Morales, Ditzia Susana, Kwasnitschka, Tom and Raatz, Annika (2024) Exploring the Deep Sea: Combining a Bistable Mechanism with Origami-Inspired Soft Actuators. In: IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, 2024. . IEEE, New York, USA, pp. 115-120. DOI 10.1109/RoboSoft60065.2024.10521929.

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Abstract

Sediment sampling is a prevalent approach for ex-
ploring and understanding the ocean and its change over time.
Unfortunately, the sampling process can be very costly due to
the logistics that involve the transportation and deployment of
the Remotely Operative Vehicle (ROV), specifically designed for
this task. In a collaboration of marine scientists and engineers,
this work focuses on developing a lightweight, modular and cost
efficient actuation system for deep-sea suction-sampling. We
propose a binary actuation system to manipulate the sampling
tube directly instead of the tube being guided by a traditional
manipulator. The core of the actuation system are bistable
actuators that combine origami-inspired soft actuators with
a bistable mechanism to form a lightweight but still robust
system. This concept aims to lower the cost of deep-sea sediment
sampling by offering the option to replace the currently used
hydraulic titanium manipulator, that is traditionally used for
deep-sea research.
We present the design, manufacturing and proof of concept
for the combination of a origami-inspired soft actuator with a
bistable mechanism.

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