TY - GEN
T1 - An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release
AU - Fiaz, Usman A.
AU - Abdelkader, M.
AU - Shamma, Jeff S.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/30
Y1 - 2018/8/30
N2 - We present a novel gripper design for autonomous aerial transport of ferrous objects with unmanned aerial vehicles (UAVs). The proposed design uses permanent magnets for grasping, and a novel dual-impulsive release mechanism, for achieving drop. The gripper can simultaneously lift up to four objects of arbitrary shape, in fully autonomous mode, with a 100% rate of successful drops. We optimize the system subject to realistic constraints, such as the simplicity of design and its sturdiness to aerial maneuvers, payload limits for multi-rotor UAVs, reliability of autonomous grasping irrespective of the environment of operation, active power consumption of the gripper, and its comparison with the existing technologies. We describe the design concepts, and the hardware, and perform extensive experiments is both indoor and outdoor environments, with two multi-rotor configurations. Several results, showcasing superior performance of the proposed system are provided as well.
AB - We present a novel gripper design for autonomous aerial transport of ferrous objects with unmanned aerial vehicles (UAVs). The proposed design uses permanent magnets for grasping, and a novel dual-impulsive release mechanism, for achieving drop. The gripper can simultaneously lift up to four objects of arbitrary shape, in fully autonomous mode, with a 100% rate of successful drops. We optimize the system subject to realistic constraints, such as the simplicity of design and its sturdiness to aerial maneuvers, payload limits for multi-rotor UAVs, reliability of autonomous grasping irrespective of the environment of operation, active power consumption of the gripper, and its comparison with the existing technologies. We describe the design concepts, and the hardware, and perform extensive experiments is both indoor and outdoor environments, with two multi-rotor configurations. Several results, showcasing superior performance of the proposed system are provided as well.
UR - http://www.scopus.com/inward/record.url?scp=85053916030&partnerID=8YFLogxK
U2 - 10.1109/AIM.2018.8452383
DO - 10.1109/AIM.2018.8452383
M3 - Conference contribution
AN - SCOPUS:85053916030
SN - 9781538618547
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1027
EP - 1032
BT - AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Y2 - 9 July 2018 through 12 July 2018
ER -