# Octopus Predation-Inspired Underwater Robot Capable of Adsorption through Opening and Closing Claws
## 4 Conclusions  
This work describes the creation of an octopus predation-inspired underwater robot capable of adsorption through opening and closing claws. The three primary components of the robot are the propeller propulsion module at the tail end, the power module within the capsule, and the claw mechanism at the front end. Mission payload devices, such  
Figure 25: Magnetic adsorption experiment: (**a**) longitudinal force application; (**b**) lateral force application. \begin{table}
\begin{tabular}{c c c} \hline \hline
**Number** & **Transverse Force (N)** & **Longitudinal Force (N)** \\ \hline
1 & 457.31 & 305.21 \\
2 & 464.30 & 306.14 \\
3 & 458.09 & 316.82 \\
4 & 473.27 & 304.98 \\
5 & 464.40 & 298.46 \\
6 & 453.18 & 307.45 \\
7 & 468.67 & 309.06 \\
8 & 469.14 & 304.25 \\
9 & 454.65 & 294.08 \\
10 & 461.15 & 300.80 \\ average & 462.42 & 304.73 \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Experimental data of magnetic adsorption. as reconnaissance modules, can be mounted within the capsule to enable underwater missions. The opening and closing claws that mimic an octopus tentacle were created. It shuts while the robot is in a non-absorption stage, which is when it keeps its overall streamlined form. By mimicking how suction cups on an octopus's tentacles adsorb prey while feeding, a magnetic adsorption unit was created. The robot's claw mechanism opens as it approaches the target, completing the adsorption process on the target surface with the help of its magnetic adsorption unit. The robot's claw mechanism is made up of the magnetic adsorption unit and opening and closing claws. An underwater unmanned vehicle carries and transports the robot to a pre-designated location, from whence it uses the launcher to propel itself toward the target. The robot then extends its claws to connect to the target after being driven a certain distance by its power unit, the propulsion module. Following the completion of adsorption, the robot travels in lockstep with the target, enabling the functional modules installed on it to perform duties like detection and reconnaissance. Below is a list of the work completed in this paper:  
1. First, the robot's general structural design is provided, and the particular structural design of the claw mechanism--that is, the magnetic adsorption unit and the opening and closing claws--is finished. The primary design factors were determined after providing physical models of the magnetic adsorption unit and the opening and closing claws, respectively. Using the Kriging response surface optimization approach, the claw mechanism's design parameters were optimally solved, leading to the final production of the robot's overall structural model;
2. We finished simulating the hand-jaw system theoretically. Using Fluent 2021 RIsoftware, the robot's maximum drag was measured, and the claw mechanism's dynamics model was created. The dynamic simulation of the claw mechanism was finished by importing the aforementioned drag and the dynamics model's boundary conditions into Adams 2018 software. This allows for the determination of the opening and closing claws' opening time. The magnetostatic module in the Workbench program was used to perform the finite element simulation of the magnetically adsorbed nano element to determine the maximum adsorption force that the magnetically adsorbed unit is capable of providing;
3. To confirm the robot's viability, a test prototype was constructed and pool experiments were carried out. An HD camera captured the testing data while a pneumatic launching tube replicated the robot's ejection mechanism. The feasibility of the robot's functions was confirmed by testing the launch, secondary propulsion, and adsorption phases. The high-speed camera captured the robot's claws opening time. The robot's ability to swiftly expand its claws to finish the adsorption on the target surface when it was reached was confirmed by the experimental findings, which closely resemble the modeling results.