发表机构
University of Moratuwa; The University of Adelaide; University of Southern Queensland（莫拉图瓦大学; 阿德莱德大学; 南昆士兰大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出HexaGripper，一种单执行器、绞盘部署的六板抓取器，用于自主空中收集长方体包裹，通过视觉对准和状态控制实现无着陆操作，实验验证了其高成功率与可行性。
AI 中文摘要
自主空中包裹收集仍然受到包裹转移操作的限制，这些操作需要人工装载、着陆或专用的地面基础设施。本文介绍了HexaGripper，一种用于自主收集长方体包裹的单执行器、绞盘部署的六板抓取器。所提出的机构提供了具有宽捕获区域的同步抓取，并在拾取过程中容忍位置错位。该系统集成了基于视觉的对准、距离传感、绞盘部署和基于状态的控制，以实现自主收集，同时保持无人机与拾取表面的分离。实验评估涵盖了静态抓取、捕获工作空间评估和端到端的户外空中收集。静态实验在三种包裹几何形状下实现了100%的拾取成功率（15/15次试验），而工作空间实验在所有28个测试位置（最大150毫米径向偏移）均实现了成功拾取。端到端的户外空中收集实现了80%的成功率（4/5次试验）。这些结果证明了机械同步、绞盘部署的抓取对于无着陆自主空中包裹收集的可行性。
英文摘要
Autonomous aerial parcel collection remains constrained by package-transfer operations that require manual loading, landing, or dedicated ground infrastructure. This letter presents HexaGripper, a single-actuator, winch-deployed six-plate gripper for autonomous collection of cuboid parcels. The proposed mechanism provides synchronized grasping with a wide capture region and tolerance to positional misalignment during pickup. The system integrates vision-based alignment, range sensing, winch deployment, and state-based control to enable autonomous collection while maintaining UAV separation from the pickup surface. Experimental evaluation covered static grasping, capture-workspace assessment, and end-to-end outdoor aerial collection. Static experiments achieved 100% pickup success (15/15 trials) across three parcel geometries, while workspace experiments achieved successful pickup at all 28 tested positions up to a 150 mm radial offset. End-to-end outdoor aerial collection achieved an 80% success rate (4/5 trials). These results demonstrate the feasibility of mechanically synchronized, winch-deployed grasping for landing-free autonomous aerial parcel collection.
