dc.contributor.advisor | Nokleby, Scott | |
dc.contributor.author | Baird, Christopher | |
dc.date.accessioned | 2020-11-11T16:36:50Z | |
dc.date.accessioned | 2022-03-29T16:49:35Z | |
dc.date.available | 2020-11-11T16:36:50Z | |
dc.date.available | 2022-03-29T16:49:35Z | |
dc.date.issued | 2020-04-01 | |
dc.identifier.uri | https://hdl.handle.net/10155/1182 | |
dc.description.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. | en |
dc.description.sponsorship | University of Ontario Institute of Technology | en |
dc.language.iso | en | en |
dc.subject | Unmanned Aerial Vehicle (UAV) | en |
dc.subject | Omni-directional | en |
dc.subject | Gripper | en |
dc.subject | Design | en |
dc.subject | Optimization | en |
dc.title | Design and development of a universal gripper mechanism and development of an omni-directional unmanned aerial vehicle for autonomous perching | en |
dc.type | Thesis | en |
dc.degree.level | Master of Applied Science (MASc) | en |
dc.degree.discipline | Mechanical Engineering | en |