Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles
| Autor: | ALTUĞ, Erdinç, MUMCUOĞLU, Mehmet Emin, YÜKSEL, İlgaz |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | Volume: 16, Issue: 1 25-33 Celal Bayar University Journal of Science |
| ISSN: | 1305-130X 1305-1385 |
| Popis: | The interestof Unmanned Aerial Vehicles (UAVs) for the purpose of delivery has increasedsignificantly in recent years. However, the abilities of those vehicles arequite limited since the arms have not being designed considering the UAVgeometry and the center of gravity (CG) changes. Usual approach taken byvarious researchers were to use a regular gripper or a robotic manipulator,which is not quite satisfactory for access. In this paper, the design of amechanism for the purpose of catching and holding various shaped objects isproposed. The mechanism, which is based on a double four-bar mechanism, hasbeen designed for minimum CG change. Moreover, the mechanism has the ability tograp objects from locations below as well as next to UAV. Besides, with thehelp of the onboard controller and camera, the arm acts as an independententity to identify the position of the part, catch it, and autonomously hold it.It is also possible to carry more than one object with a net structure insidethe mechanism storage area. The gripper has been designed and manufactured withflexible parts so that it can hold several geometric shaped objects. TheUAV-arm has been designed and manufactured. It is installed on a UAV. Initialtests verify that it can identify and catch spherical, cylindrical, and boxshaped pieces up to 650 grams. |
| Databáze: | OpenAIRE |
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