Design, build and control of gripper for unmanned aerial vehicle

• Main Author: Ng, Wee Song
• Other Authors: Erdal Kayacan
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Mechanical engineering::Mechatronics
• Online Access: http://hdl.handle.net/10356/74557
• Institution: Nanyang Technological University

With unmanned aerial vehicle arising to be the next potentially powerful and versatile vehicle, the development of different mechanisms to fulfill different requirements and enhance the capabilities of the UAV will largely amplify the usage of UAV. The objective of this project is to develop a low-cost gripper that is easy to manufacture and capable of grasping objects with flexible configurations. After reviewing and evaluating past researches, it was decided that the prototype for this project will be a 3-degrees of freedom gripper which will have elevation, yaw and also grasping endeffector. The whole prototype will be manufactured by utilizing 3D printing and then assembled together manually. The prototype was then put through a series of static and flight tests to capture common household objects in order to evaluate its performance. The results of the experiments showed that the gripper is able to consistently capture the objects effectively under different circumstances. The prototype also took advantage of the semi-autonomous control during the experiment to enhance its capability of autonomous grasping.