Source codes and media files from bachelor's thesis assignment Design of an Electromagnetic Gripper for Unmanned Aerial Vehicles with the Multi-Robot Systems Robotics group at Czech Technical University, Prague 2020.
Note: The work was also accepted for publication in Springer's Lecture Notes in Computer Science under: A Nedungadi and M Saska. “Design of an Active-Reliable Grasping Mechanism for Autonomous Unmanned Aerial Vehicles”. In Modelling and Simulation for Autonomous Systems (MESAS 2019).
Author = Ashwin Suresh Nedungadi
Supervisor = Dr. Martin Saska, Ing.
Website: http://mrs.felk.cvut.cz/
Year = 2020
Thesis Topic = Design of an Electromagnetic Gripper for Unmanned Aerial Vehicles
Program = Bachelor's in Electrical Engineering & Computer Science [BEECS]
ABSTRACT
This thesis work deals with the design of a grasping mechanism for aerial grasping and assembly tasks by autonomous unmanned aerial vehicles (UAVs). The proposed design is aimed at solving ferromagnetic grasping by UAVs and has onboard sensors that detect and provide reliable feedback to the UAV. The main focus of the work deals with the design of the gripper, the technique used for feedback estimation and the integration of the entire mechanism into the current UAV systems at the MRS lab. Furthermore, an overview of the entire system and its implementation are discussed. The developed mechanism is tested multiple times under indoor and outdoor conditions and is designed to be deployed for Challenge II of the MBZIRC 2020 robotics competition in Abu Dhabi.
Keywords: unmanned aerial vehicle, aerial grasping, aerial object manipulation, sensor feedback
Video of Experiments:
Autonomous grasping test: https://youtu.be/WBgUNp1UqlA
Piloted grasping test: https://youtu.be/bOQ2FRhOzXw