Active Suction Device for Deep-Sea Applications (ASDDSA)

深海主动抽吸装置 (ASDDSA)

• 批准号: 498342743
• 负责人: Dr. Tom Kwasnitschka
• 金额: --
• 依托单位: Institut für Montagetechnik (match)
• 依托单位国家: 德国
• 项目类别: Priority Programmes
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/498342743?language=en
• 关键词: Active; Suction; Device; Deep; Sea

Not least because of its extreme conditions, the deep ocean still is largely unexplored, yet it receives steadily increasing attention as a source of natural resources and a driver of the global climate alike. For robotics, the deep sea thus offers harsh operating conditions in a promising field of application. One of the main tasks of diving robots (ROVs, Remotely Operated Vehicles) used for research is sampling flora, fauna, and rocks. This is currently still done by hydraulic manipulators developed for industrial purposes. A refinement, especially for sampling, are suction samplers. Such a flexible hose acting in analogy to a vacuum cleaner is gripped at a handle by the manipulator and guided to the place of use. Rigid hydraulic manipulators designed for industrial use are neither particularly precise and agile nor energy-efficient for this task. This project aims to turn the previously passive suction sampler into an active system and thus make it independent of rigid manipulators. For this purpose, several soft hydraulic actuators made of silicone are combined to reach across a large working space. The soft robot will be actuated with seawater and controlled remotely from the tethered deployment ship. The project also covers all the required peripherals and equips an actual industrial ROV with a pump, sampling mechanism, actuation unit and an adapted ROV carrier system. The project's goal is thus a soft robotic based, application-ready system for sampling in the deep sea. To achieve this, the soft robotics expertise present at match, and corroborated during the first SPP2100 phase, is combined with practical knowledge of operational, developmental and environmental prerequisites of marine technology, contributed by GEOMAR.

尤其是由于其极端的条件，深海在很大程度上仍然未被探索，但它作为自然资源的来源和全球气候的驱动力而受到越来越多的关注。因此，对于机器人来说，深海在一个有希望的应用领域提供了恶劣的操作条件。用于研究的潜水机器人（ROV，遥控潜水器）的主要任务之一是采集植物群、动物群和岩石样本。目前，这仍然是由液压机械手开发的工业目的。一种改进的，特别是用于取样的，是抽吸取样器。类似于真空吸尘器作用的这种柔性软管在手柄处由操纵器抓握并被引导到使用位置。为工业用途设计的刚性液压机械手既不特别精确和灵活，也不节能。本计画的目的是将原本被动的吸入式取样器改造成主动系统，使其不受刚性机械手的影响。为此，几个由硅胶制成的软液压执行器被组合在一起，以达到一个大的工作空间。软体机器人将由海水驱动，并从系留部署船远程控制。该项目还涵盖了所有必需的外围设备，并为实际的工业离心机配备了泵、采样机构、驱动单元和适配的离心机载体系统。因此，该项目的目标是建立一个基于软机器人的、可随时应用的深海取样系统。为了实现这一目标，match上的软机器人专业知识，并在第一个SPP 2100阶段得到证实，与GEOMAR贡献的海洋技术的操作，开发和环境先决条件的实践知识相结合。