Bistable Gripper for Aerial Perching via Impact Energy
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Solution Overview
Problem
Current aerial vehicles face challenges in achieving reliable and efficient perching mechanisms due to the need for accurate detection, estimation, and control of perching objects, as well as the requirement for lightweight and reliable attachment and release mechanisms, which are not adequately addressed by existing perching methods.
Innovation Solution
A bistable gripper mechanism for aerial vehicles that switches between a closed and open stable state, utilizing a base with beams and elastic connectors to store and release strain energy, allowing for passive perching without the need for sensors or additional energy input, and can be easily integrated with estimation and control algorithms for vision-guided autonomous perching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional perching mechanisms with sensors and active control are used, then perching accuracy is improved, but device complexity and energy consumption increase
Solution Approach 1:
The gripper utilizes the impact force from the aerial vehicle's own landing motion to automatically close and latch onto the perching object. The kinetic energy of the descending vehicle is converted into the closing action of the gripper through the impact, eliminating the need for external sensors, actuators, or control systems. The mechanism serves itself by using the landing impact as the actuating force.
Solution Approach 2:
The impact force, which could be considered harmful or damaging during landing, is converted into a beneficial force that closes the gripper and secures the aerial vehicle to the perching object. The previously problematic impact is now the driving mechanism for successful perching.
2Reliability
If traditional perching mechanisms with sensors and active control are used, then perching accuracy is improved, but energy consumption increases
Solution Approach 1:
The system uses the kinetic energy from the aerial vehicle's own descent to power the gripper closing action. No additional energy from batteries or power sources is required, as the landing impact itself provides the necessary energy to close and secure the gripper.
Solution Approach 2:
The impact energy, which would normally be wasted or harmful during landing, is converted into useful work to close the gripper. This eliminates the need for separate energy sources while achieving reliable perching.
3Reliability
If complex perching mechanisms are used, then attachment reliability is improved, but ease of operation deteriorates
Solution Approach 1:
The gripper automatically closes and latches onto the perching object using the impact force from the landing. The operator only needs to initiate the descent, and the system handles the entire perching operation autonomously without complex manual controls.
Solution Approach 2:
Instead of using active forces to close the gripper and passive forces to hold it open, the mechanism inverts this approach: passive gravity and impact forces close the gripper, while active force is only needed for release. This simplifies the operation to a single action (release) for the operator.
4Use of energy by moving object
If bistable mechanism is used, then energy efficiency is improved, but device complexity increases
Solution Approach 1:
The mechanism transitions from a static structure to a dynamic bistable system that can switch between two stable states (open and closed). The beams and elastic connectors are designed to exhibit dynamic behavior during impact, allowing the gripper to automatically transition to the closed state upon landing impact and remain latched without continuous energy input.
Solution Approach 2:
The bistable mechanism uses the impact energy to trigger the transition to the closed state and the elastic connectors to maintain latching. No external energy source or control system is needed to maintain the stable states, achieving energy efficiency through the inherent mechanical properties of the bistable structure.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The bistable gripper enables robust and energy-efficient perching by leveraging impact forces for attachment and release, extending the operational time of aerial vehicles and simplifying the perching process, making it suitable for long-duration monitoring and surveillance tasks.
Implementation Method 1
The first elastic connector and the second elastic connector may be configured for storing strain energy when the bistable gripper is in the open stable state, and the first elastic connector and the second elastic connector may be configured for releasing the stored strain energy when the bistable gripper is switched from the open stable state to the closed stable state.
Implementation Method 2
The first beam and the second beam may be configured for storing strain energy when the bistable gripper is in the open stable state, and the first beam and the second beam may be configured for releasing the stored strain energy when the bistable gripper is switched from the open stable state to the closed stable state.
Data Source
AI summary
A bistable gripper for an aerial vehicle may include a base, a first finger, a second finger, a switching pad, a first elastic connector, and a second elastic connector. The base may include a first beam and a second beam. The first finger may be pivotably attached to the first beam at a first joint, and the second finger may be pivotably attached to the second beam at a second joint. The switching pad may be configured for moving relative to the base. The first elastic connector may be attached to the switching pad and the first finger, and the second elastic connector may be attached to the switching pad and the second finger. The bistable gripper may be configured for switching between a closed stable state and an open stable state.