Spiral Zipper Manipulator for Aerial Grasping and Manipulation

Liu, Chao; Bera, Abhraneel; Tsabedze, Thulani; Edgar, Daniel; Yim, Mark

doi:10.1109/iros40897.2019.8967982

Cited by 8 publications

(6 citation statements)

References 20 publications

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“…7. Liu Chao et al [25] proposed a new type of manipulator for aircraft to complete grasping and maneuvering tasks. The goal is to design a low-cost, relatively light but strong manipulator and propose a new design based on a spiral zipper and tether actuator.…”

Section: Manipulatormentioning

confidence: 99%

Review of Aerial Manipulator and its Control

Wei-hong

Cao

Chun-lai

2021

IJRCS

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The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator. Although aerial manipulation has greatly increased the scope of robot operations, the research on aerial manipulators also faces many difficulties, such as the selection of aerial platforms and actuators, system modeling and control, etc. This article attempts to collect the research team’s Achievements in the field of aerial robotic arms. The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, and its problems are summarized and prospected.

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Section: Manipulatormentioning

confidence: 99%

Review of Aerial Manipulator and its Control

Wei-hong

Cao

Chun-lai

2021

IJRCS

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“…The other concept of the deployable robotic arm is based on the zipper-based mechanism. Collins et al proposed a spherical robot arm called a spiral zipper mechanism [ 12 , 13 , 14 ]. The spiral zipper has a high extension–compression ratio, which allows it to be very compact when not in use.…”

Section: Introductionmentioning

confidence: 99%

A Highly Compact Zip Chain Arm with Origami-Inspired Folding Chain Structures

Kim

Jung

2023

Biomimetics

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A deployable robotic arm can be a useful tool for mobile systems to widen accessible areas without removing mobility. For practical use, the deployable robotic arm needs to satisfy two requirements: a high extension–compression ratio and robust structural stiffness against the environment. To this end, this paper suggests, for the first time, an origami-inspired zipper chain to achieve a highly compact, one-degree-of-freedom zipper chain arm. The key component is the foldable chain, which innovatively increases the space-saving capability in the stowed state. The foldable chain is fully flattened in the stowed state, allowing for storage of many more chains in the same space. Moreover, a transmission system was designed to transform a 2D flat pattern into a 3D chain shape in order to control the length of the origami zipper. Additionally, an empirical parametric study was performed to choose design parameters to maximize the bending stiffness. For the feasibility test, a prototype was built and performance tests were executed in relation to extension length, speed, and structural robustness.

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“…Grasping of cylindrical objects is presented by Seo et al [23], while a suction-based end-effector for pick and place is adopted by Kessens et al [24, 25]. An extending zipper manipulator for aerial grasping is presented by Liu et al [26], while a seven DoF manipulator with a hex-rotor [27] for object grasping is adopted by Zang et al Kruce-Bradley [28] presented an actively compliant and hybrid manipulator for pick and place operations. Hamaza-Kovac [29] presented an omni-directional manipulator for aerial operations.…”

Section: Introductionmentioning

confidence: 99%

Design and integration of a drone based passive manipulator for capturing flying targets

et al. 2021

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SUMMARY In this paper, we present a novel passive single degree-of-freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target from a flying UAV and capture it efficiently in the presence of disturbances, with minimal energy usage. It is also designed to handle target sway and the effect of downwash. The passive manipulator is integrated with the drone through a single DoF arm, and experiments are carried out in an outdoor environment. The rack-and-pinion mechanism incorporated for this manipulator ensures safety by extending the manipulator beyond the body of the drone to capture the target. The autonomous capturing experiments are conducted using a red ball hanging from a stationary drone and subsequently from a moving drone. The experiments show that the manipulator captures the target with a success rate of 70% even under environmental/measurement uncertainties and errors.

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Spiral Zipper Manipulator for Aerial Grasping and Manipulation

Cited by 8 publications

References 20 publications

Review of Aerial Manipulator and its Control

Review of Aerial Manipulator and its Control

A Highly Compact Zip Chain Arm with Origami-Inspired Folding Chain Structures

Design and integration of a drone based passive manipulator for capturing flying targets

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