• Login
    View Item 
    •   eScholar Home
    • Faculty of Engineering & Applied Science
    • Master Theses & Projects
    • View Item
    •   eScholar Home
    • Faculty of Engineering & Applied Science
    • Master Theses & Projects
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Design and development of a universal gripper mechanism and development of an omni-directional unmanned aerial vehicle for autonomous perching

    Thumbnail
    View/Open
    Baird_Christopher.pdf (59.50Mb)
    Date
    2020-04-01
    Author
    Baird, Christopher
    Metadata
    Show full item record
    Abstract
    A novel omni-directional multi-rotor prototype with an attached gripper mechanism named the OmniRaptor is presented with the capability of landing on inclined members in a controlled, stable manner to perform construction and maintenance tasks on industrial structures such as high-voltage transmission towers. The OmniRaptor utilizes orthogonal variable-pitch side rotors placed perpendicular to a main quadcopter section allowing for arbitrary control of position and attitude, which is not possible with a standard multi-rotor. A gripper based on robotic hands is designed, optimized, and developed with the capabilities of grasping long slender beams with an unknown cross-section. The gripper replaces the landing gear on a normal multirotor also allowing the OmniRaptor to land on at surfaces. The results of test flights are presented demonstrating autonomous take-off, flying, and controlled landing with secure grasping for both a level and an inclined beam, something not possible for a traditional multi-rotor layout.
    URI
    https://hdl.handle.net/10155/1182
    Collections
    • Electronic Theses and Dissertations [1323]
    • Master Theses & Projects [418]

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV
     

     

    Browse

    All of eScholarCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    LoginRegister

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV