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 proceedingConference contribution

2 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 languageEnglish (US)
Title of host publication39th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791857137
DOIs
StatePublished - Jan 1 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: Aug 2 2015Aug 5 2015

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B-2015

Other

OtherASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period8/2/158/5/15

ASJC Scopus subject areas

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

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    Welch, C. R., Akbarisamani, S., Detweiler, C., & Nelson, C. A. (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). https://doi.org/10.1115/DETC201547377