TY - GEN
T1 - Lightweight, low-cost, compliant grasper for UAV-based pick-and place operations
AU - Welch, Charles R.
AU - Akbarisamani, Saeideh
AU - Detweiler, Carrick
AU - Nelson, Carl A.
N1 - Publisher Copyright:
Copyright © 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84973513823&partnerID=8YFLogxK
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U2 - 10.1115/DETC201547377
DO - 10.1115/DETC201547377
M3 - Conference contribution
AN - SCOPUS:84973513823
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 39th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Y2 - 2 August 2015 through 5 August 2015
ER -