Passive Aerial Grasping of Ferrous Objects

Handle URI:
http://hdl.handle.net/10754/625955
Title:
Passive Aerial Grasping of Ferrous Objects
Authors:
Fiaz, Usman Amin ( 0000-0003-1388-4426 ) ; Toumi, Noureddine ( 0000-0003-4130-7845 ) ; Shamma, Jeff S. ( 0000-0001-5638-9551 )
Abstract:
Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one.
KAUST Department:
Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division; Electrical Engineering Program; Robotics Intelligent Systems and Control (RISC) Laboratory, King Abdullah University of Science and Technology, , Saudi Arabia
Citation:
Fiaz UA, Toumi N, Shamma JS (2017) Passive Aerial Grasping of Ferrous Objects. IFAC-PapersOnLine 50: 10299–10304. Available: http://dx.doi.org/10.1016/j.ifacol.2017.08.1495.
Publisher:
Elsevier BV
Journal:
IFAC-PapersOnLine
Issue Date:
19-Oct-2017
DOI:
10.1016/j.ifacol.2017.08.1495
Type:
Article
ISSN:
2405-8963
Additional Links:
http://www.sciencedirect.com/science/article/pii/S2405896317320724
Appears in Collections:
Articles; Electrical Engineering Program; Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division

Full metadata record

DC FieldValue Language
dc.contributor.authorFiaz, Usman Aminen
dc.contributor.authorToumi, Noureddineen
dc.contributor.authorShamma, Jeff S.en
dc.date.accessioned2017-10-29T11:53:37Z-
dc.date.available2017-10-29T11:53:37Z-
dc.date.issued2017-10-19en
dc.identifier.citationFiaz UA, Toumi N, Shamma JS (2017) Passive Aerial Grasping of Ferrous Objects. IFAC-PapersOnLine 50: 10299–10304. Available: http://dx.doi.org/10.1016/j.ifacol.2017.08.1495.en
dc.identifier.issn2405-8963en
dc.identifier.doi10.1016/j.ifacol.2017.08.1495en
dc.identifier.urihttp://hdl.handle.net/10754/625955-
dc.description.abstractAerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one.en
dc.publisherElsevier BVen
dc.relation.urlhttp://www.sciencedirect.com/science/article/pii/S2405896317320724en
dc.rightsNOTICE: this is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, [50, 1, (2017-10-19)] DOI: 10.1016/j.ifacol.2017.08.1495 . © 2017. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/en
dc.subjectaerial graspingen
dc.subjectautonomous systemsen
dc.subjectFlying robotsen
dc.subjectmagneticen
dc.subjectpassive gripperen
dc.subjectrobotics technologyen
dc.subjectsmart designen
dc.titlePassive Aerial Grasping of Ferrous Objectsen
dc.typeArticleen
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Divisionen
dc.contributor.departmentElectrical Engineering Programen
dc.contributor.departmentRobotics Intelligent Systems and Control (RISC) Laboratory, King Abdullah University of Science and Technology, , Saudi Arabiaen
dc.identifier.journalIFAC-PapersOnLineen
dc.eprint.versionPost-printen
kaust.authorFiaz, Usman Aminen
kaust.authorToumi, Noureddineen
kaust.authorShamma, Jeff S.en
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