A Flying Gripper Based on Cuboid Modular Robots
A Flying Gripper Based on Cuboid Modular Robots
复制标题
一种基于长方体模块化机器人的飞行抓手
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Mark H. Yim
中科院分区：
文献类型：
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作者：
Bruno Gabrich;David Saldaña;Vijay R. Kumar;Mark H. Yim
提出了一种新型的模块化飞行平台，能够抓取和运输物体。它由四个合作相同的模块组成，其中每个模块都基于一个四旋翼内的长方体框架与对接机制。一对对模块能够独立飞行，并通过匹配它们的垂直边缘形成铰链来物理连接。四个一自由度（DOF）连接形成一个一自由度四杆连杆机构，可用于抓取外部物体。在本文中，我们提出了一种分散的方法，允许飞行夹持器控制其位置，姿态和孔径角。在我们的实验中，我们测试了不同孔径角度和抓取物体的悬停性能。还验证了关闭和打开动作的性能。
We present a novel flying modular platform capable of grasping and transporting objects. It is composed of four cooperative identical modules where each is based on a quadrotor within a cuboid frame with a docking mechanism. Pairs of modules are able to fly independently and physically connect by matching their vertical edges forming a hinge. Four one degree of freedom (DOF) connections results in a one DOF four-bar linkage that can be used to grasp external objects. In this paper, we propose a decentralized method that allows the Flying Gripper to control its position, attitude and aperture angle. In our experiments, we tested the hovering performance for different aperture angles and with a grasped object. The performance for a closing and opening motion was also verified.