Research Article
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Year 2020, Volume: 16 Issue: 1, 25 - 33, 27.03.2020

Abstract

References

  • 1. Gartner Inc., Gartner says almost 3 million personal and commercial drones will be shipped in 2017. http://www.gartner.com/newsroom/id/3602317 (accessed at 3.5.2017).
  • 2. Michael, N, Shen, S, Mohta, K, Mulgaonkar, Y, Kumar, V, Nagatani, K, Tadokoro, S. 2012. Collaborative mapping of an earthquake-damaged building via ground and aerial robots. Journal of Field Robotics; 29 (5): 832-841.
  • 3. Ozaslan T, Shen, S. Mulgaonkar, Y, Michael, N, Kumar, V. Inspection of Penstocks and Featureless Tunnel-like Environments Using Micro UAVs. In: Mejias L, Corke P, Roberts J. (eds) Field and Service Robotics, Springer Tracts in Advanced Robotics, vol 105, pp 123-136.
  • 4. Tomic T, Schmid, K, Lutz, P, Domel, A, Kassecker, M, Mair, E, Burschka, D. 2012. Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue. IEEE Robotics & Automation Magazine; 19 (3): 46-56.
  • 5. Kucinski T. et al. Deployable Manipulator Technology with Application for UAVs. In: Sasiadek J (eds) Aerospace Robotics II. GeoPlanet: Earth and Planetary Sciences, Springer, Cham, 2015, pp 93-103.
  • 6. Orsag, M, Korpela, C, Oh, P. 2013. Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle. J Intell Robot Syst; 69: 227-240.
  • 7. Fanni, M, Khalifa, A. 2017. A New 6-DOF Quadrotor Manipulation System: Design, Kinematics, Dynamics, and Control. IEEE/ASME Transactions on Mechatronics. Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/tmech.2017.2681179
  • 8. Mebarki, R., & Lippiello, V. 2014. Image-Based Control for Aerial Manipulation. Asian Journal of Control. Wiley-Blackwell. https://doi.org/10.1002/asjc.887
  • 9. International Atomic Energy. 2014. Monitoring radiation with drones. [Online]. [Accessed: 3 May 2017]. https://www.iaea.org/newscenter/multimedia/podcasts/monitoring -radiation-drones
  • 10. Kuckelhaus, M. 2014. Microdrones in logistics. https://www.microdrones.com/en/applications/growthmarkets/quadcopter-for-logistics/. [Online]. [Accessed: 3 May 2017].
  • 11. Amazon Lays Out Plan for Drones to NavigateSkies. https://www.wsj.com/articles/amazon-lays-out-plan-for-dronesto-navigate\-skies-1438106902. [Online]. [Accessed: 9 December 2018].
  • 12. Wikipedia. 2017. Amazon Prime Air. [Online]. [Accessed: 3 May 2017]. https://en.wikipedia.org/wiki/Amazon_Prime_Air
  • 13. DHL. 2014. DHL Parcelcopter. [Online]. [Accessed: 14 February 2019]. https://discover.dhl.com/business/businessethics/parcelcopter-drone-technology
  • 14. Matternet. 2017. In action for public health:MatternetM2.[Online].[Accessed:3 May 2017]. https://www.post.ch/-/media/post/ueberuns/medienmitteilungen/2017/drohnen/spezifikationen-matternetm2.pdf?la=en
  • 15. Perez, S. 2017. ’UPS tests show delivery drones still need work’. [Online]. [Accessed: 3 May 2017]. https://techcrunch.com/2017/02/21/ups-tests-show-deliverydrones-still-need-work/
  • 16. Macleod, D. 2015. Pepsi Max Drone Football. [Online]. [Accessed: 3 May 2017]. http://theinspirationroom.com/daily/2015/pepsi-max-dronefootball/
  • 17. Robotiq. 2017. Adaptive 2-finger robot gripper. [Online]. [Accessed: 3 May 2017]. http://robotiq.com/products/adaptiverobot-gripper/
  • 18. FESTO, 2014. Multichoicegripper. https://www.festo.com/net/SupportPortal/Files/333986/Festo_MultiChoiceGripper_en.pdf [Online]. [Accessed: 3 May 2017].
  • 19. BOSCH. 2017. APAS Asistant. [Online]. [Accessed: 3 May 2017]. http://www.boschapas.com/en/apas/produkte/assistant/apas_assistant_3.html
  • 20. FESTO AG & CO KG. 2014. Gripper device for gripping objects. European Patent, No: EP2735408 (A1), 2014.
  • 21. Dorling, Kevin, Jordan Heinrichs, Geoffrey G Messier, and Sebastian Magierowski. "Vehicle Routing Problems for Drone Delivery." IEEE Transactions on Systems, Man, and Cybernetics: Systems 47, no. 1 (2016): 70-85.
  • 22. Scott, Judy, and Carlton Scott. "Drone Delivery Models for Healthcare." Paper presented at the Proceedings of the 50th Hawaii international conference on system sciences, 2017.
  • 23. Köse O, and Oktay, T. "Non Simultaneous Morphing System Desing for Quadrotors," European Journal of Science and Technology , vol.16, pp.577-588, 2019.
  • 24. Ören, A, Koçyiğit, Y. "Unmanned Aerıal Vehicles Landing Sequencing Modelling Via Fuzzy Logic / İnsansız Hava Araçları İniş Sıralamasının Bulanık Mantık Modellemesi". Celal Bayar University Journal of Science, 12, 2016.

Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles

Year 2020, Volume: 16 Issue: 1, 25 - 33, 27.03.2020

Abstract

The interest
of Unmanned Aerial Vehicles (UAVs) for the purpose of delivery has increased
significantly in recent years. However, the abilities of those vehicles are
quite limited since the arms have not being designed considering the UAV
geometry and the center of gravity (CG) changes. Usual approach taken by
various researchers were to use a regular gripper or a robotic manipulator,
which is not quite satisfactory for access. In this paper, the design of a
mechanism for the purpose of catching and holding various shaped objects is
proposed. The mechanism, which is based on a double four-bar mechanism, has
been designed for minimum CG change. Moreover, the mechanism has the ability to
grap objects from locations below as well as next to UAV. Besides, with the
help of the onboard controller and camera, the arm acts as an independent
entity to identify the position of the part, catch it, and autonomously hold it.
It is also possible to carry more than one object with a net structure inside
the mechanism storage area. The gripper has been designed and manufactured with
flexible parts so that it can hold several geometric shaped objects. The
UAV-arm has been designed and manufactured. It is installed on a UAV. Initial
tests verify that it can identify and catch spherical, cylindrical, and box
shaped pieces up to 650 grams.

References

  • 1. Gartner Inc., Gartner says almost 3 million personal and commercial drones will be shipped in 2017. http://www.gartner.com/newsroom/id/3602317 (accessed at 3.5.2017).
  • 2. Michael, N, Shen, S, Mohta, K, Mulgaonkar, Y, Kumar, V, Nagatani, K, Tadokoro, S. 2012. Collaborative mapping of an earthquake-damaged building via ground and aerial robots. Journal of Field Robotics; 29 (5): 832-841.
  • 3. Ozaslan T, Shen, S. Mulgaonkar, Y, Michael, N, Kumar, V. Inspection of Penstocks and Featureless Tunnel-like Environments Using Micro UAVs. In: Mejias L, Corke P, Roberts J. (eds) Field and Service Robotics, Springer Tracts in Advanced Robotics, vol 105, pp 123-136.
  • 4. Tomic T, Schmid, K, Lutz, P, Domel, A, Kassecker, M, Mair, E, Burschka, D. 2012. Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue. IEEE Robotics & Automation Magazine; 19 (3): 46-56.
  • 5. Kucinski T. et al. Deployable Manipulator Technology with Application for UAVs. In: Sasiadek J (eds) Aerospace Robotics II. GeoPlanet: Earth and Planetary Sciences, Springer, Cham, 2015, pp 93-103.
  • 6. Orsag, M, Korpela, C, Oh, P. 2013. Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle. J Intell Robot Syst; 69: 227-240.
  • 7. Fanni, M, Khalifa, A. 2017. A New 6-DOF Quadrotor Manipulation System: Design, Kinematics, Dynamics, and Control. IEEE/ASME Transactions on Mechatronics. Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/tmech.2017.2681179
  • 8. Mebarki, R., & Lippiello, V. 2014. Image-Based Control for Aerial Manipulation. Asian Journal of Control. Wiley-Blackwell. https://doi.org/10.1002/asjc.887
  • 9. International Atomic Energy. 2014. Monitoring radiation with drones. [Online]. [Accessed: 3 May 2017]. https://www.iaea.org/newscenter/multimedia/podcasts/monitoring -radiation-drones
  • 10. Kuckelhaus, M. 2014. Microdrones in logistics. https://www.microdrones.com/en/applications/growthmarkets/quadcopter-for-logistics/. [Online]. [Accessed: 3 May 2017].
  • 11. Amazon Lays Out Plan for Drones to NavigateSkies. https://www.wsj.com/articles/amazon-lays-out-plan-for-dronesto-navigate\-skies-1438106902. [Online]. [Accessed: 9 December 2018].
  • 12. Wikipedia. 2017. Amazon Prime Air. [Online]. [Accessed: 3 May 2017]. https://en.wikipedia.org/wiki/Amazon_Prime_Air
  • 13. DHL. 2014. DHL Parcelcopter. [Online]. [Accessed: 14 February 2019]. https://discover.dhl.com/business/businessethics/parcelcopter-drone-technology
  • 14. Matternet. 2017. In action for public health:MatternetM2.[Online].[Accessed:3 May 2017]. https://www.post.ch/-/media/post/ueberuns/medienmitteilungen/2017/drohnen/spezifikationen-matternetm2.pdf?la=en
  • 15. Perez, S. 2017. ’UPS tests show delivery drones still need work’. [Online]. [Accessed: 3 May 2017]. https://techcrunch.com/2017/02/21/ups-tests-show-deliverydrones-still-need-work/
  • 16. Macleod, D. 2015. Pepsi Max Drone Football. [Online]. [Accessed: 3 May 2017]. http://theinspirationroom.com/daily/2015/pepsi-max-dronefootball/
  • 17. Robotiq. 2017. Adaptive 2-finger robot gripper. [Online]. [Accessed: 3 May 2017]. http://robotiq.com/products/adaptiverobot-gripper/
  • 18. FESTO, 2014. Multichoicegripper. https://www.festo.com/net/SupportPortal/Files/333986/Festo_MultiChoiceGripper_en.pdf [Online]. [Accessed: 3 May 2017].
  • 19. BOSCH. 2017. APAS Asistant. [Online]. [Accessed: 3 May 2017]. http://www.boschapas.com/en/apas/produkte/assistant/apas_assistant_3.html
  • 20. FESTO AG & CO KG. 2014. Gripper device for gripping objects. European Patent, No: EP2735408 (A1), 2014.
  • 21. Dorling, Kevin, Jordan Heinrichs, Geoffrey G Messier, and Sebastian Magierowski. "Vehicle Routing Problems for Drone Delivery." IEEE Transactions on Systems, Man, and Cybernetics: Systems 47, no. 1 (2016): 70-85.
  • 22. Scott, Judy, and Carlton Scott. "Drone Delivery Models for Healthcare." Paper presented at the Proceedings of the 50th Hawaii international conference on system sciences, 2017.
  • 23. Köse O, and Oktay, T. "Non Simultaneous Morphing System Desing for Quadrotors," European Journal of Science and Technology , vol.16, pp.577-588, 2019.
  • 24. Ören, A, Koçyiğit, Y. "Unmanned Aerıal Vehicles Landing Sequencing Modelling Via Fuzzy Logic / İnsansız Hava Araçları İniş Sıralamasının Bulanık Mantık Modellemesi". Celal Bayar University Journal of Science, 12, 2016.
There are 24 citations in total.

Details

Primary Language English
Journal Section Articles
Authors

Erdinç Altuğ 0000-0002-5581-7806

Mehmet Emin Mumcuoğlu This is me

İlgaz Yüksel This is me

Publication Date March 27, 2020
Published in Issue Year 2020 Volume: 16 Issue: 1

Cite

APA Altuğ, E., Mumcuoğlu, M. E., & Yüksel, İ. (2020). Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles. Celal Bayar University Journal of Science, 16(1), 25-33.
AMA Altuğ E, Mumcuoğlu ME, Yüksel İ. Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles. CBUJOS. March 2020;16(1):25-33.
Chicago Altuğ, Erdinç, Mehmet Emin Mumcuoğlu, and İlgaz Yüksel. “Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles”. Celal Bayar University Journal of Science 16, no. 1 (March 2020): 25-33.
EndNote Altuğ E, Mumcuoğlu ME, Yüksel İ (March 1, 2020) Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles. Celal Bayar University Journal of Science 16 1 25–33.
IEEE E. Altuğ, M. E. Mumcuoğlu, and İ. Yüksel, “Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles”, CBUJOS, vol. 16, no. 1, pp. 25–33, 2020.
ISNAD Altuğ, Erdinç et al. “Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles”. Celal Bayar University Journal of Science 16/1 (March 2020), 25-33.
JAMA Altuğ E, Mumcuoğlu ME, Yüksel İ. Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles. CBUJOS. 2020;16:25–33.
MLA Altuğ, Erdinç et al. “Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles”. Celal Bayar University Journal of Science, vol. 16, no. 1, 2020, pp. 25-33.
Vancouver Altuğ E, Mumcuoğlu ME, Yüksel İ. Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles. CBUJOS. 2020;16(1):25-33.