Compliant Bistable Gripper for Aerial Perching and Grasping
Compliant Bistable Gripper for Aerial Perching and Grasping
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DOI：
10.1109/icra.2019.8793936
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发表时间：
2019-05
期刊：
影响因子：
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通讯作者：
Haijie Zhang;Jiefeng Sun;Jianguo Zhao
中科院分区：
文献类型：
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作者：
Haijie Zhang;Jiefeng Sun;Jianguo Zhao
小型空中机器人通常面临一个共同的挑战：由于其有限的机载能量供应，它们只能飞行很短的时间。为了解决这个问题，一个有希望的解决方案是赋予飞行机器人栖息能力，使它们可以栖息或降落在墙壁，树木或电线上休息或充电。这种栖息能力对于监测相关的任务特别有用，因为机器人可以在不飞行的情况下保持用于监测的期望高度。栖息的主要挑战之一是设计一个重量轻，能源效率高的栖息机制。在本文中，我们提出了一种3D打印的柔性夹持器，该夹持器易于关闭，保持稳定，并且易于调整，以使手掌大小的四轴飞行器停留在圆柱形物体上。如果安装在空中机器人的底部，它也可以用于空中抓取。夹持器可直接由接触时的冲击力启动，从打开状态切换到闭合状态。它还可以安全地保持四轴飞行器，因为打开夹持器所需的力大于机器人的重量。我们分析了关闭和打开所需的力，以提供该机制的设计指南。实验结果表明，所设计的夹持器能够成功地实现四轴飞行器在圆柱体上的停驻和对物体的抓取。
Small aerial robots usually face a common challenge: they can only fly for a short time due to their limited onboard energy supply. To tackle this issue, one promising solution is to endow flying robots with perching capability so that they can perch or land on walls, trees, or power lines to rest or recharge. Such perching capability is especially useful for monitoring-related tasks since the robot can maintain a desired height for monitoring without flying. One of the major challenges for perching is to design a light-weight and energy-efficient perching mechanism. In this paper, we present a 3D-printed compliant bistable gripper which is easy to close, stable to hold, and easy to adjust for a palm-size quadcopter to perch on cylindrical objects. If installed on the bottom of aerial robots, it can also be used for aerial grasping. The gripper can be directly activated by the impact force during contact to switch from open state to closed state. It can also hold the quadcopter safely since the required force to open the gripper is larger than the robot weight. We analyze the required forces for closing and opening to provide design guidelines for the mechanism. Experimental results show that the designed gripper can successful make the quadcopter perch on cylinders as well as grasp objects.