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A Mechanically Intelligent and Passive Gripper

Perching onto an object (e.g., tree branches) has recently been leveraged for addressing the limited flight time for flying robots. Successful perching needs a mechanical mechanism to damp out the impact and robustly grasp the object. Generally, such a mechanism requires actuation for grasping. In this paper, we present a fully passive mechanism without using any actuator: a mechanically intelligent and passive (MIP) gripper that can be used for both aerial perching and grasping. Initially open, the gripper can be closed by the impact force during perching. After the gripper closes, if a sufficient weight (e.g., the robot's weight) is applied, the gripper can switch its state to a holding state and maintain that state to hold the weight. Once the weight is removed, the gripper can automatically open. Attaching the gripper onto a quadcopter, we perform aerial grasping and perching to demonstrate the gripper's capability. We expect the MIP gripper would be ideal for aerial perching or grasping since it is lightweight (mass ratio between the gripper and the flying robot can be as small as 0.75% compared to larger than 10% for most of the other grippers), allowing the robot to carry other useful payloads. The result has been published in IEEE/ASME Transactions on Mechatronics. Details can be found at: https://ieeexplore.ieee.org/abstract/...