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

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 language	Undefined
Title of host publication	Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics
Place of Publication	USA
Publisher	IEEE ROBOTICS AND AUTOMATION SOCIETY
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: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) - Lausanne, Switzerland, USA Duration: 23 Oct 2016 → 27 Oct 2016

Publication series

Name
Publisher	IEEE Robotics and Automation Society

Conference

Conference	IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016
City	USA
Period	23/10/16 → 27/10/16
Other	23-27 October 2016

Keywords

EWI-27579
METIS-320939
IR-103143
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.",

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

note = "eemcs-eprint-27579 ; null ; Conference date: 23-10-2016 Through 27-10-2016",

year = "2016",

month = oct,

doi = "10.1109/SSRR.2016.7784331",

language = "Undefined",

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

publisher = "IEEE ROBOTICS AND AUTOMATION SOCIETY",

pages = "384--389",

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

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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 ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 384-389, IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2016, USA, 23/10/16. https://doi.org/10.1109/SSRR.2016.7784331

The SHERPA gripper: grasping of small-scale UAVs. / Barrett, Eamon; Reiling, Mark; Fumagalli, Matteo; Carloni, Raffaella.

Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2016. p. 384-389.

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

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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.

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