The SHERPA gripper: grasping of small-scale UAVs

Eamon Barrett; Mark Reiling; Matteo Fumagalli; Raffaella Carloni

doi:10.1109/SSRR.2016.7784331

The SHERPA gripper: grasping of small-scale UAVs

Eamon Barrett, Mark Reiling, Matteo Fumagalli, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

9 Citations (Scopus)

13 Downloads (Pure)

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 language	English
Title of host publication	Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics
Place of Publication	USA
Publisher	IEEE
Pages	384-389
Number of pages	6
ISBN (Print)	978-1-5090-4349-1
DOIs	https://doi.org/10.1109/SSRR.2016.7784331
Publication status	Published - Oct 2016
Event	IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland Duration: 23 Oct 2016 → 27 Oct 2016

Conference

Conference	IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016
Country/Territory	Switzerland
City	Lausanne
Period	23/10/16 → 27/10/16

Keywords

EC Grant Agreement nr.: FP7/600958

Access to Document

10.1109/SSRR.2016.7784331

Cite this

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title = "The SHERPA gripper: grasping of small-scale UAVs",

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{\textquoteright}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.",

keywords = "EC Grant Agreement nr.: FP7/600958",

author = "Eamon Barrett and Mark Reiling and Matteo Fumagalli and Raffaella Carloni",

year = "2016",

month = oct,

doi = "10.1109/SSRR.2016.7784331",

language = "English",

isbn = "978-1-5090-4349-1",

pages = "384--389",

booktitle = "Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics",

publisher = "IEEE",

address = "United States",

note = "IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016 ; Conference date: 23-10-2016 Through 27-10-2016",

}

Barrett, E, Reiling, M, Fumagalli, M & Carloni, R 2016, The SHERPA gripper: grasping of small-scale UAVs. in Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics. IEEE, USA, pp. 384-389, IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016, Lausanne, Switzerland, 23/10/16. https://doi.org/10.1109/SSRR.2016.7784331

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T1 - The SHERPA gripper: grasping of small-scale UAVs

AU - Barrett, Eamon

AU - Reiling, Mark

AU - Fumagalli, Matteo

AU - Carloni, Raffaella

PY - 2016/10

Y1 - 2016/10

N2 - 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.

AB - 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.

KW - EC Grant Agreement nr.: FP7/600958

U2 - 10.1109/SSRR.2016.7784331

DO - 10.1109/SSRR.2016.7784331

M3 - Conference contribution

SN - 978-1-5090-4349-1

SP - 384

EP - 389

BT - Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics

PB - IEEE

CY - USA

T2 - IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016

Y2 - 23 October 2016 through 27 October 2016

ER -

The SHERPA gripper: grasping of small-scale UAVs

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Keywords

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