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

Vidyadhara, BV and Tony, LA and Gadde, MS and Jana, S and Varun, VP and Bhise, AA and Sundaram, S and Ghose, D (2021) Design and integration of a drone based passive manipulator for capturing flying targets. In: Robotica .

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Abstract

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. © The Author(s), 2021. Published by Cambridge University Press.

Item Type:	Journal Article
Publication:	Robotica
Publisher:	Cambridge University Press
Additional Information:	The copyright for this article belongs to Author
Keywords:	Degrees of freedom (mechanics); Drones; End effectors; Manipulators, Aerial manipulation; Design and integrations; Keyword:; Manipulator designs; Moving target capture; Moving targets; Passive end-effector; Passive manipulators; Single degree of freedoms; Target capture, Antennas
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	04 Jan 2022 05:25
Last Modified:	04 Jan 2022 05:25
URI:	http://eprints.iisc.ac.in/id/eprint/70854

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