用于空中抓取与着陆的模块化气动软体夹爪设计
A Modular Pneumatic Soft Gripper Design for Aerial Grasping and Landing
AI总结：
本文提出一种用于空中抓取与着陆的模块化气动软体夹爪设计，结合前馈比例控制器与可重构软指，兼作软着陆起落架，有效减轻重量并实现217 g最大载荷。
摘要：
空中机器人因其在巡检、搜救和无人机配送等多个行业的潜在应用而备受关注。成功的任务往往取决于这些机器人有效抓取和着陆的能力。本文提出了一种专为空中抓取和着陆操作量身定制的新型模块化软体夹爪设计。所提出的模块化气动软体夹爪结合了前馈比例控制器来调节压力，从而实现顺应性抓取能力。软指的模块化连接器为4爪软体夹爪提供了两种配置：H型底座（圆柱形）和X型底座（球形），使其能够适应不同的目标物体。此外，该夹爪在放气时可作为软着陆起落架，从而无需额外的起落架。这种设计减轻了重量，简化了空中操作控制，并提高了飞行效率。我们展示了室内空中抓取的有效性，并使用所提出的软体飞行器及其H型底座气动软体夹爪（808 g）实现了217 g的最大有效载荷。
英文摘要：
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp and land effectively. This paper presents a novel modular soft gripper design tailored explicitly for aerial grasping and landing operations. The proposed modular pneumatic soft gripper incorporates a feed-forward proportional controller to regulate pressure, enabling compliant gripping capabilities. The modular connectors of the soft fingers offer two configurations for the 4-tip soft gripper, H-base (cylindrical) and X-base (spherical), allowing adaptability to different target objects. Additionally, the gripper can serve as a soft landing gear when deflated, eliminating the need for an extra landing gear. This design reduces weight, simplifies aerial manipulation control, and enhances flight efficiency. We demonstrate the efficacy of indoor aerial grasping and achieve a maximum payload of 217 g using the proposed soft aerial vehicle and its H-base pneumatic soft gripper (808 g).
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
