Lightweight, Low-Cost, Compliant Grasper for UAV-Based Pick-and-Place Operations
Lightweight, Low-Cost, Compliant Grasper for UAV-Based Pick-and-Place Operations
复制标题
用于基于无人机的拾放操作的轻型、低成本、合规抓取器
DOI：
10.1115/detc2015-47377
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
C. Nelson
中科院分区：
文献类型：
--
作者：
C. R. Welch;Saeideh Akbarisamani;Carrick Detweiler;C. Nelson
抓取和操纵物体仍然是机器人学在各种应用中感兴趣的一个领域。一个新兴的领域是将抓手与无人机(UAV)结合使用，例如用于建筑、农业和军事行动。本文介绍了一种柔顺抓取器的设计，该抓取器具有简单、低成本的机构来抓取不同尺寸的易碎物体。抓取器通过有限元模型进行了改进，以优化关键的合规特性。它在9个不同尺寸和重量的物体上进行了测试。抓取器抓取和举起重量高达自身重量10倍的物体；然而，对于较轻的物体，它最可靠。在无人机上进行的初步集成实验演示了抓取器的预期功能。版权所有©2015年，ASME
Grasping and manipulating objects remains an area of interest in robotics for a variety of applications. An emerging area is the use of graspers in conjunction with unmanned aerial vehicles (UAVs), e.g., for construction, agriculture, and military operations. This paper presents the design of a compliant grasper, which has a simple, low-cost mechanism to grasp different-sized delicate objects. The grasper was refined through an FEA model to optimize the key compliance features. It was tested on nine different objects of varying dimensions and weights. The grasper grasped and lifted objects up to 10 times its own weight; however, it is most reliable with lighter objects. A preliminary experiment with integration on a UAV demonstrated the grasper’s intended functionality.Copyright © 2015 by ASME