A passive mechanism for relocating payloads with a quadrotor

Joseph DeGol; David Hanley; Navid Aghasadeghi; Tim Bretl

doi:10.1109/IROS.2015.7353992

A passive mechanism for relocating payloads with a quadrotor

Joseph DeGol, David Hanley, Navid Aghasadeghi, Tim Bretl

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract / Description of output

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 language	English
Title of host publication	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	Institute of Electrical and Electronics Engineers
Pages	4337-4342
Number of pages	6
ISBN (Electronic)	978-1-4799-9994-1
ISBN (Print)	978-1-4799-9993-4
DOIs	https://doi.org/10.1109/IROS.2015.7353992
Publication status	Published - 17 Dec 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Conference Centre Hamburg, Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 https://iros2015.informatik.uni-hamburg.de/

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated title	IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	https://iros2015.informatik.uni-hamburg.de/

Access to Document

10.1109/IROS.2015.7353992Licence: All Rights Reserved

https://ieeexplore.ieee.org/abstract/document/7353992Licence: All Rights Reserved

Cite this

@inproceedings{56303d969e594b56807a92af741b71cd,

title = "A passive mechanism for relocating payloads with a quadrotor",

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.",

author = "Joseph DeGol and David Hanley and Navid Aghasadeghi and Tim Bretl",

year = "2015",

month = dec,

day = "17",

doi = "10.1109/IROS.2015.7353992",

language = "English",

isbn = "978-1-4799-9993-4",

pages = "4337--4342",

booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

url = "https://iros2015.informatik.uni-hamburg.de/",

}

DeGol, J, Hanley, D, Aghasadeghi, N & Bretl, T 2015, A passive mechanism for relocating payloads with a quadrotor. in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 4337-4342, IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, Hamburg, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353992

TY - GEN

T1 - A passive mechanism for relocating payloads with a quadrotor

AU - DeGol, Joseph

AU - Hanley, David

AU - Aghasadeghi, Navid

AU - Bretl, Tim

PY - 2015/12/17

Y1 - 2015/12/17

N2 - 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.

AB - 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.

U2 - 10.1109/IROS.2015.7353992

DO - 10.1109/IROS.2015.7353992

M3 - Conference contribution

SN - 978-1-4799-9993-4

SP - 4337

EP - 4342

BT - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - Institute of Electrical and Electronics Engineers

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems 2015

Y2 - 28 September 2015 through 2 October 2015

ER -

A passive mechanism for relocating payloads with a quadrotor

Abstract / Description of output

Conference

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