Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff, irregular object shapes, and varying surface frictions. One common approach involves developing finger-based hands with embedded compliance using underactuation and soft actuators. This study introduces an effective alternative solution that does not rely on finger-based hand designs. We present a fish mouth inspired origami gripper that utilizes a single degree of freedom to perform a variety of robust grasping tasks underwater. The innovative structure transforms a simple uniaxial pulling motion into a grasping action based on the Yoshimura crease pattern folding. The origami gripper offers distinct advantages, including scalable and optimizable design, grasping compliance, and robustness, with four grasping types: pinch, power grasp, simultaneous grasping of multiple objects, and scooping from the seabed. In this work, we detail the design, modeling, fabrication, and validation of a specialized underwater gripper capable of handling various marine creatures, including jellyfish, crabs, and abalone. By leveraging an origami and bio-inspired approach, the presented gripper demonstrates promising potential for robotic grasping and manipulation in underwater environments.

翻译：水下环境中的机器人抓取与操作对传统陆地使用的机械手提出了独特挑战。这些挑战源于动态的水流条件、物体特性从柔软到坚硬的广泛范围、不规则的物体形状以及变化的表面摩擦力。一种常见方法涉及开发基于手指的机械手，通过欠驱动和软体驱动器嵌入顺应性。本研究提出了一种不依赖基于手指设计的有效替代方案。我们介绍了一种受鱼嘴启发的折纸夹爪，它利用单自由度在水下执行多种鲁棒抓取任务。该创新结构基于吉村折痕图案折叠，将简单的单轴拉动运动转化为抓取动作。该折纸夹爪具有显著优势，包括可扩展和可优化的设计、抓取顺应性和鲁棒性，可实现四种抓取类型：捏取、强力抓取、同时抓取多个物体以及从海床舀取。在这项工作中，我们详细介绍了专门水下夹爪的设计、建模、制造和验证，该夹爪能够处理包括水母、螃蟹和鲍鱼在内的各种海洋生物。通过采用折纸和仿生方法，所提出的夹爪展示了在水下环境中进行机器人抓取与操作的广阔潜力。