2-DOF Adaptive Pneumatic Gripper

The Quadraginta mechanism is a specialized subsea payload featuring two degrees of freedom

driven by a dual-piston pneumatic system. One pneumatic cylinder actuates a precise 45-degree

rotational wrist motion (inspiring the name 'Quadraginta', which is Latin for forty-five). The second

cylinder independently actuates the movement of the end-effector, which was custom-designed to

securely connect specific subsea instruments, such as an eDNA sensor.

▸ Rotational Kinematics: Engineered a pneumatic wrist joint that provides an exact 45-degree

range of motion to allow for angled subsea interventions and precise tool alignment.

▸ Dual-Actuation System: Utilized two independent pneumatic cylinders, effectively decoupling

the orienting motion of the arm from the clamping force of the gripper.

▸ Targeted End-Effector: Custom-designed the gripping jaw's geometry to securely interface

with and manipulate specific competition objects, guaranteeing a reliable hold on the eDNA

sensor during deployment.

▸ Structural Integration: Designed a robust, angled mounting bracket that securely attaches the

entire assembly to the ROV's slotted frame, allowing for quick, modular payload swapping.