A deployable articulated mechanism enabled in-flight morphing aerial gripper
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NSTL
Elsevier
To further increase the adaptability and versatility of aerial vehicles, this paper presents a novel deployable quad-rotor enabled aerial gripper without integrating extra manipulators. In specific, the quad-rotor can morph/deploy in flight by actuating a simple but effective articulated rigid elements based morphing mechanism, and the function of the gripper can be simultaneously achieved by following the extension/contraction of the deployable articulated mechanism. The proposed mechanism not only endows the quad-rotor with mechanical advantages such as high stiffness but also forms a morph-driven aerial gripper, which helps materialize a novel, compact yet efficient, and dual functional aerial vehicle. In addition, in order to control the morphing quad-rotor system, a morph-independent dynamic model and the corresponding control strategy are developed and presented. Extensive simulations and experiments on the proposed inflight morphing mechanism and grasping functions of the gripper are performed. The results verify the effectiveness of the deployment/morphing mechanism and simultaneously enabled grasping functions, including handling different objects with various sizes, shapes, and textures. The results also validate that our deployment/morphing mechanism has less effect on flight behavior, but does own advantages of multi-maneuverability and morphological adaptation.
Aerial gripperIn-flight morphing quad-rotorDeployable mechanismScissor-like articulated element
Shen, Yantao、Zhao, Na、Luo, Yudong、Wang, Gang
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Univ Nevada, Dept Elect & Biomed Engn, Biomimet & Robot Lab, 1664 N Virginia St, Reno, NV 89557 USA
NSTL
Elsevier
