A passive mechanism for relocating payloads with a quadrotor

Joseph Degol, David Hanley, Navid Aghasadeghi, Tim Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a passive mechanism for quadrotor vehicles and other hover-capable aerial robots based on the cam-follower. This mechanism has two mating parts, one attached to the quadrotor and the other attached to a payload. These two parts are joined by a toggle switch - push to connect, push to disconnect - that is easy to activate with the quadrotor by varying thrust. We discuss the design parameters and provide an inertial model for our mechanism. With hardware experiments, we demonstrate the use of this passive mechanism to autonomously place a wireless camera in several different locations on the underside of a steel beam. Our mechanism is open source and can be easily fabricated with a 3D printer.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4337-4342
Number of pages6
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Degol, J., Hanley, D., Aghasadeghi, N., & Bretl, T. (2015). A passive mechanism for relocating payloads with a quadrotor. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4337-4342). [7353992] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353992