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

Access to Document

10.1115/DETC201547377

Cite this

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

@inproceedings{3576fadc4bf94a43a71acb74c7ac4eb8,

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

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.}",

note = "Publisher Copyright: Copyright {\textcopyright} 2015 by ASME.; ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 ; Conference date: 02-08-2015 Through 05-08-2015",

year = "2015",

doi = "10.1115/DETC201547377",

language = "English (US)",

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

publisher = "American Society of Mechanical Engineers (ASME)",

booktitle = "39th Mechanisms and Robotics Conference",

}

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.

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

UR - http://www.scopus.com/inward/citedby.url?scp=84973513823&partnerID=8YFLogxK

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 -

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

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this