Abstract:
This research project presents the design, development, and evaluation of an
innovative gripper system integrated with drones, offering advanced capabilities in
object manipulation. The design and development of the gripper system follow 3D
printing, sensor integration, and microcontroller coding, enabling a precise, secure,
and efficient grasping mechanism. The gripper system incorporates an advanced
control algorithm and integrates two distinct systems: the Remote Control System
(RCS) and the Onboard System (OBS). These systems enable real-time data
feedback and haptic-tactile sensations, enhancing the operator's control and
perception during object manipulation. Tactile and data feedback from Force Sensing Resistors (FSRs) and load cell is sent to RCS, which is a wearable wristband
incorporating a Haptic Fingertip Device (HFD), a Friction Actuator Device (FAD),
and a display module, providing the operator with valuable sensory information.
Extensive testing and research evaluation was conducted to assess the
system's performance and capabilities. The gripper system demonstrated precise grip
force control and weight sensing, as well as good adaptability to various object
shapes, materials, and masses. This cost-effective innovation enhances the
functionality of drones by providing accurate and efficient object handling
capabilities. The integration of haptic and data feedback highlights its potential for
enhancing drone operations. The results of this research contribute to advancing the
field of drone technology, expanding the capabilities of robotic systems, and paving
the way for future advancements in the domain of aerial manipulation.
