What question did this study set out to answer?

The central aim is to design a modular and affordable end effector to enhance sample collection of marine organisms.

February 9, 2026QRU Quaderns de Recerca en Urbanisme0 citationsOpen Access

Towards the design of a sensorized hybrid end effector for underwater operations

ASAlejandro SolísUniversitat Jaume I APA. Pino SLS. Gomez Lopez

Key Points

The central aim is to design a modular and affordable end effector to enhance sample collection of marine organisms.
Focused on developing a hybrid design for the end effector
Considered specific needs of marine biologists
Assessed performance in underwater operations
Proposed end effector is lighter and more affordable than existing models
Designed features specifically for efficient sample collection
Addresses limitations of current manipulator arms in marine environments

Abstract

The use of underwater vehicles equipped with manipulator arms is gaining popularity each year as a safer alternative to performing tasks that pose significant risks to divers. However, in marine sciences, many existing manipulator arms are heavy, costly, and poorly suited to the specific needs of marine biologists. This paper is a continuation of the proposal for a versatile, modular and affordable manipulator presented in a previous paper 1. In summary, the current contribution focuses on the development of an end effector designed to meet the challenges of collecting samples of marine organisms using underwater vehicles.

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