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

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 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 languageEnglish (US)
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1027-1032
Number of pages6
ISBN (Print)9781538618547
DOIs
StatePublished - Aug 30 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: Jul 9 2018Jul 12 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Country/TerritoryNew Zealand
CityAuckland
Period07/9/1807/12/18

ASJC Scopus subject areas

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

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