论文标题
强大的空中抓地力，用于使用苏格兰轭机构的被动抓握和冲动释放
A Robust Aerial Gripper for Passive Grasping and Impulsive Release using Scotch Yoke Mechanism
论文作者
论文摘要
航空运输需要一个简单而可靠的抓手来摘录和放置感兴趣的对象。在这项工作中，我们设计了一种空中抓手，用于被动抓握和冲动的涂层物体。永久磁铁用于被动抓握，苏格兰轭机构用于提供脉冲的力来降低物体。理论上和实验中计算抓地力的负载能力。使用加权几何编程优化了诸如旋转磁盘的半径和苏格兰轭机构中滑块长度的参数。考虑到抓地力的各个组件，抓地架的尺寸是衍生得出的。将抓地力安装在无人机（UAV）上，并通过携带不同尺寸和质量的亚铁涂层的立方体形状来完成测试。这些测试是在室外环境中以手动和自主模式进行的。
Aerial transportation requires a simple yet reliable gripper for picking and placing objects of interest. In this work, we design an aerial gripper for passive grasping and impulsive release of ferrous coated objects. Permanent magnets are used for passive grasping and the Scotch Yoke mechanism is used for providing impulsive force to drop the object. The load carrying capacity of the gripper is calculated theoretically and experimentally. The parameters such as the radius of the rotating disk and length of the slider in the Scotch Yoke mechanism were optimized using weighted geometric programming. The dimensions of the gripper mount were derived considering the various components of the gripper. The gripper was mounted on an Unmanned Aerial Vehicle (UAV) and the tests were done by carrying ferrous coated cuboid shaped objects of different sizes and masses. These tests were done in manual and autonomous mode in the outdoor environment.
