The SHERPA gripper: grasping of small-scale UAVs

Eamon Barrett, Mark Reiling, Matteo Fumagalli, Raffaella Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    4 Citations (Scopus)

    Abstract

    This paper presents the mechatronic design of a compact gripper, intended to manipulate unmanned aerial vehicles in search and rescue missions. The gripper latches onto a custom interface, that is mounted on the aerial vehicle, and achieves a secure form closure through a combination of a passive latching mechanism and a driving dwell mechanism. The grasping procedure is facilitated by the gripper’s shape, which guides it into the interface, making for a simple pick-up operation that is robust to small misalignments between gripper and interface. The design of the gripper is presented, and the features of its components analyzed. Successful experiments validate that the gripper meets its requirements, and presents an effective solution for grasping objects like UAVs.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages384-389
    Number of pages6
    ISBN (Print)978-1-5090-4349-1
    DOIs
    Publication statusPublished - Oct 2016
    EventIEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) - Lausanne, Switzerland, USA
    Duration: 23 Oct 201627 Oct 2016

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    ConferenceIEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016
    CityUSA
    Period23/10/1627/10/16
    Other23-27 October 2016

    Keywords

    • EWI-27579
    • METIS-320939
    • IR-103143
    • EC Grant Agreement nr.: FP7/600958

    Cite this