An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release

Usman A. Fiaz; M. Abdelkader; Jeff S. Shamma

doi:10.1109/AIM.2018.8452383

An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release

Usman A. Fiaz, M. Abdelkader, Jeff S. Shamma

Computer, Electrical and Mathematical Sciences and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

35 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1027-1032
Number of pages	6
ISBN (Print)	9781538618547
DOIs	https://doi.org/10.1109/AIM.2018.8452383
State	Published - Aug 30 2018
Event	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand Duration: Jul 9 2018 → Jul 12 2018

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2018-July

Conference

Conference	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Country/Territory	New Zealand
City	Auckland
Period	07/9/18 → 07/12/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

Access to Document

10.1109/AIM.2018.8452383

Cite this

Fiaz, U. A., Abdelkader, M., & Shamma, J. S. (2018). An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 1027-1032). Article 8452383 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452383

Fiaz, Usman A. ; Abdelkader, M. ; Shamma, Jeff S. / An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release. AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1027-1032 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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abstract = "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.",

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Fiaz, UA, Abdelkader, M & Shamma, JS 2018, An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release. in AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 8452383, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2018-July, Institute of Electrical and Electronics Engineers Inc., pp. 1027-1032, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, New Zealand, 07/9/18. https://doi.org/10.1109/AIM.2018.8452383

An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release. / Fiaz, Usman A.; Abdelkader, M.; Shamma, Jeff S.
AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1027-1032 8452383 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Fiaz UA, Abdelkader M, Shamma JS. An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1027-1032. 8452383. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2018.8452383

An intelligent gripper design for autonomous aerial transport with passive magnetic grasping and dual-impulsive release

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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