Yıl 2020, Cilt 16 , Sayı 1, Sayfalar 25 - 33 2020-03-27

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

Erdinç ALTUĞ [1] , Mehmet Emin MUMCUOĞLU [2] , İlgaz YÜKSEL [3]


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.

Robotics arm design for UAV, Flexible Gripper, Four-bar mechanism
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Birincil Dil en
Bölüm Makaleler
Yazarlar

Orcid: 0000-0002-5581-7806
Yazar: Erdinç ALTUĞ (Sorumlu Yazar)
Kurum: ISTANBUL TECHNICAL UNIVERSITY
Ülke: Turkey


Yazar: Mehmet Emin MUMCUOĞLU
Kurum: ISTANBUL TECHNICAL UNIVERSITY
Ülke: Turkey


Yazar: İlgaz YÜKSEL
Kurum: ISTANBUL TECHNICAL UNIVERSITY
Ülke: Turkey


Tarihler

Yayımlanma Tarihi : 27 Mart 2020

Bibtex @araştırma makalesi { cbayarfbe529996, journal = {Celal Bayar University Journal of Science}, issn = {1305-130X}, eissn = {1305-1385}, address = {}, publisher = {Celal Bayar Üniversitesi}, year = {2020}, volume = {16}, pages = {25 - 33}, doi = {}, title = {Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles}, key = {cite}, author = {ALTUĞ, Erdinç and MUMCUOĞLU, Mehmet Emin and YÜKSEL, İlgaz} }
APA ALTUĞ, E , MUMCUOĞLU, M , 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 . Retrieved from https://dergipark.org.tr/tr/pub/cbayarfbe/issue/53288/529996
MLA ALTUĞ, E , MUMCUOĞLU, M , YÜKSEL, İ . "Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles". Celal Bayar University Journal of Science 16 (2020 ): 25-33 <https://dergipark.org.tr/tr/pub/cbayarfbe/issue/53288/529996>
Chicago ALTUĞ, E , MUMCUOĞLU, M , YÜKSEL, İ . "Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles". Celal Bayar University Journal of Science 16 (2020 ): 25-33
RIS TY - JOUR T1 - Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles AU - Erdinç ALTUĞ , Mehmet Emin MUMCUOĞLU , İlgaz YÜKSEL Y1 - 2020 PY - 2020 N1 - DO - T2 - Celal Bayar University Journal of Science JF - Journal JO - JOR SP - 25 EP - 33 VL - 16 IS - 1 SN - 1305-130X-1305-1385 M3 - UR - Y2 - 2020 ER -
EndNote %0 Celal Bayar Üniversitesi Fen Bilimleri Dergisi Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles %A Erdinç ALTUĞ , Mehmet Emin MUMCUOĞLU , İlgaz YÜKSEL %T Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles %D 2020 %J Celal Bayar University Journal of Science %P 1305-130X-1305-1385 %V 16 %N 1 %R %U
ISNAD ALTUĞ, Erdinç , MUMCUOĞLU, Mehmet Emin , YÜKSEL, İlgaz . "Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles". Celal Bayar University Journal of Science 16 / 1 (Mart 2020): 25-33 .
AMA ALTUĞ E , MUMCUOĞLU M , YÜKSEL İ . Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles. Celal Bayar Univ J Sci. 2020; 16(1): 25-33.
Vancouver ALTUĞ E , MUMCUOĞLU M , YÜKSEL İ . Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles. Celal Bayar University Journal of Science. 2020; 16(1): 33-25.