Design of bionic manipulator for UAV autonomous object grasping / 医疗卫生装备

ABSTRACT

Objective To design a bionic manipulator to enable precise grasping of objects by UAVs during flight.Methods A bionic manipulator for UAV autonomous object grasping was developed with the components of a shell,a support frame,a rotating gear,a central spindle,a central winding disk,three nylon threads,two rotary motors,three torsion springs,three mechanical claws,three mechanical claw fixing mechanisms,an infrared sensing device and an Arduino development board.The shell was 3D printed with PLA material,and the support frame,rotating gear,central spindle,central winding disk and mechanical claws were 3D printed with photosensitive resin,and the mechanical claws were injected with rubber material to form an elastic structure after 3D printing was completed;the Arduino development board used an OpenCM9.0 controller to provide power supply and control for the infrared sensing device and rotating motor.Results The manipulator developed proved to have the capability for opening and closure,which could complete the process of opening-sensing-starting-grasping in 0.11 to 0.15 s.Conclusion The manipulator developed gains advantages in light weight,low load and high efficiency,and can meet the needs of UAVs for autonomous object grasping.[Chinese Medical Equipment Journal,2023,44(11):34-38]