We present the design and experimental results for the JPL‐Nautilus Gripper, a 16‐finger highly underactuated microspine gripper for use in the deep ocean. The gripper can grasp objects from 10 to 30 cm in size and anchor to flat and curved rocky surfaces (i.e., cliff faces and seamounts). Laboratory results demonstrated an anchoring capability of greater than 450 N on rough rocks in both shear and normal loading directions. Deployment on the Hercules ROV (remotely operated vehicle) aboard the E/V Nautilus on three deep‐ocean dives verified performance at depths up to to 2,100 m with approximately 100 N loads applied through the ROV's thrusters, including moment loads. The gripper also serves as a development unit for future robotic tools that will include a coring drill in the center of the gripper, as previously demonstrated in non‐ocean environments with microspine grippers. Such a tool will facilitate the collection of geologic samples from the deep ocean using more agile and cost‐effective systems.

中文翻译：

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JPL-Nautilus夹爪的设计和测试，用于深海地质取样

我们介绍了JPL-Nautilus Gripper的设计和实验结果，这是一种16指高度不足的微型脊柱夹持器，适用于深海。抓手可抓取10至30厘米大小的物体，并将其固定在平坦且弯曲的岩石表面（例如，悬崖面和海山）上。实验结果表明，在剪切和法向载荷方向上，在粗糙岩石上的锚固能力均大于450N。在E / V Nautilus上进行的3次深海潜水，在Hercules ROV（遥控车辆）上进行了部署，验证了在高达2100 m的深度上的性能，并通过ROV推进器施加了大约100 N的载荷，包括力矩载荷。该抓取器还可以用作未来机器人工具的开发单元，其中包括在抓取器中央的取芯钻，如先前在非海洋环境中使用微棘爪所展示的那样。这种工具将有助于使用更敏捷，更具成本效益的系统从深海收集地质样品。