Lightweight, low-cost, compliant grasper for UAV-based pick-and place operations

Charles R. Welch; Saeideh Akbarisamani; Carrick Detweiler; Carl A. Nelson

doi:10.1115/DETC201547377

Lightweight, low-cost, compliant grasper for UAV-based pick-and place operations

Charles R. Welch, Saeideh Akbarisamani, Carrick Detweiler, Carl A. Nelson

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

5 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	39th Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791857137
DOIs	https://doi.org/10.1115/DETC201547377
State	Published - 2015
Event	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States Duration: Aug 2 2015 → Aug 5 2015

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	5B-2015

Other

Other	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Country/Territory	United States
City	Boston
Period	8/2/15 → 8/5/15

ASJC Scopus subject areas

Modeling and Simulation
Mechanical Engineering
Computer Science Applications
Computer Graphics and Computer-Aided Design

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10.1115/DETC201547377

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Lightweight, low-cost, compliant grasper for UAV-based pick-and place operations. / Welch, Charles R.; Akbarisamani, Saeideh; Detweiler, Carrick et al.

39th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2015. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5B-2015).

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

Welch, CR, Akbarisamani, S, Detweiler, C & Nelson, CA 2015, Lightweight, low-cost, compliant grasper for UAV-based pick-and place operations. in 39th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5B-2015, American Society of Mechanical Engineers (ASME), ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015, Boston, United States, 8/2/15. https://doi.org/10.1115/DETC201547377

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abstract = "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.",

author = "Welch, {Charles R.} and Saeideh Akbarisamani and Carrick Detweiler and Nelson, {Carl A.}",

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series = "Proceedings of the ASME Design Engineering Technical Conference",

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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.

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Lightweight, low-cost, compliant grasper for UAV-based pick-and place operations

Abstract

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