A Novel Design and Implementation of a Surface Sediment Sampling Robot

Gallegos Vicente L.G.; Gonzales Cordova J.A.; Huarca Quispe J.L.; Cutipa Luque J.C.; Julca Avila J.P. · Journal of Robotics (2025) · DOI: 10.1155/joro/9066404

Resumen

This research presents the design and development of a robot for the collection of surface aquatic sediments in shallow water environments. The robot’s primary function is to enhance traditional sampling techniques and ensure precise data for environmental assessment. The robot’s working principle involves being manually placed at the sampling point, where it descends under its own weight through the water column until reaching the sediment bed. At this point, it employs an innovative drilling system that combines rotational and linear movements, enabling a conical-shaped collector to gather samples from the uppermost 52 mm of sediment while minimizing the loss of fine sediment. Primarily constructed with 3D-printed parts, the robot features a modular layered design in its mechanical structure, facilitating both assembly and maintenance. The control system is composed of a Raspberry Pi (RPI), a stepper motor driver, an H-bridge, and optical sensors for position and velocity feedback. Additionally, a monitoring system was implemented through a local Wi-Fi network to visualize drilled distance, linear velocity, angular velocity, and battery voltage during the sampling process. Multiple tests have been carried out in the laboratory, where the amount of sediment collected ranged from 84.2 to 151 g depending on the sampling duration, demonstrating the robot’s capability and consistency in meeting standard requirements. Copyright

Instituciones: Universidad Nacional de San Agustín de Arequipa