Multi-Axis Roller End Effector for Misaligned UAV Capture
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Solution Overview
Problem
Existing systems struggle to safely and consistently capture and release unmanned aerial vehicles (UAVs) and other objects in adverse and unpredictable conditions, particularly due to misalignment issues and the need for precise alignment, which can damage the target object and are costly and complex to maintain.
Innovation Solution
A portable, self-contained system with multi-axis capture capability using roller wheels arranged in non-parallel planes, allowing for 360-degree approach angles and tolerant of positional and rotational misalignment, featuring a control device with elongate support arms and an input device for manual or automated operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional articulated robotic grippers are used to capture hovering vehicles, then capture capability is achieved, but the system complexity and cost increase due to need for high-speed vision systems and precise alignment mechanisms
Solution Approach 1:
The patent replaces complex mechanical alignment systems and high-speed vision systems with a passive mechanical capture mechanism. The end effector uses roller wheels that passively guide and capture the UAV through mechanical interaction alone, eliminating the need for active sensing and complex control systems while maintaining reliable capture capability
Solution Approach 2:
The capture mechanism is designed to be self-aligning through its geometric configuration. The roller wheels and receptacle geometry automatically guide the UAV into the correct position during approach, allowing the system to self-correct misalignment without external control systems or vision feedback
2Manufacturing precision
If precise alignment mechanisms are used to ensure accurate capture, then capture accuracy improves, but the risk of damaging the target object increases due to limited error tolerance
Solution Approach 1:
The patent changes the geometric parameters of the capture mechanism to create a larger acceptable approach envelope. By designing the roller wheels and receptacle with specific dimensional relationships, the system accepts a wider range of approach angles and positions while still achieving accurate capture, thereby reducing damage risk from misalignment
Solution Approach 2:
The mechanism incorporates built-in mechanical compliance and guidance features that gradually guide the UAV into proper alignment during the capture process. The roller wheels make initial contact and progressively guide the object into the receptacle, cushioning against misalignment before final engagement occurs
3Measurement precision
If high-speed vision systems and precise localization are used to achieve accurate capture, then alignment precision improves, but operational cost and maintenance difficulty increase
Solution Approach 1:
The patent eliminates electronic vision systems and replacement with a purely mechanical capture mechanism. The roller wheels and receptacle geometry provide inherent alignment guidance through their physical configuration, achieving precise alignment through mechanical design rather than electronic sensing and control
Solution Approach 2:
The mechanical mechanism serves multiple functions simultaneously: it provides alignment guidance, absorbs misalignment errors, and performs the capture action all through passive geometric interaction. This multi-functionality eliminates the need for separate vision systems, localization systems, and control systems
4Device complexity
If traditional grippers with limited approach angles are used, then structural simplicity is maintained, but the ability to capture objects from multiple directions is reduced
Solution Approach 1:
The patent adds rotational freedom around the vertical axis to the capture mechanism. The roller wheels are arranged to accept approaches from any heading angle (360 degrees around the vertical axis), transforming the mechanism from a single-direction gripper to an omnidirectional capture device while maintaining structural simplicity
Data Source
AI summary
End effectors and systems may capture, release, and/or create a mating engagement between the end effector and a target object, such as in capture and launch applications, grasping applications, or pick-and-place applications. The end effectors are tolerant of positional and rotational misalignment of the target object, and may include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. Control devices enable operation of these and other end effectors in a portable, self-contained system that a single operator can use in a hand-held or wearable form factor. The control devices may include a drive system for power transfer, manual and automatic leveling or angular positioning mechanisms, and/or operator-mounting features. Related methods may involve capture and release, pick-and-place, and/or grasping operations performed with the disclosed control device and one or more end effectors coupled thereto.