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Soft Gripper with Adjustable Microspines for Adhering to Tree Branches

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Robotics in Natural Settings (CLAWAR 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 530))

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Abstract

Labour and resource intensive data collection methods drive the use of unmanned aerial vehicles in the field of environmental monitoring. UAV supported sensor deployment in forests can improve localized and continuous monitoring. To advance this field, we present a two fingered gripper with spines integrated on three phalanxes. The softness of the fingers combined with compliantly-supported microspines integrated into adjustable microspine-clusters allow the gripper to wrap and adhere to tree branches. With a differential drive actuation, microspine cluster adjustability as well as load-sharing between spine clusters is achieved. We characterize the bending behaviour of the soft fingers that adapt to curved and irregular objects. We show that the implementation of compliantly-supported and adjustable microspine-clusters increase holding force and that load-sharing between spine clusters is achieved with the differential drive actuation. The demonstration of UAV perching on a tree branch with the gripper shows that sensor deployment in these environments can be achieved.

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Author information

Authors and Affiliations

  1. ETH Zürich, 8092, Zürich, Switzerland

    Steffen Kirchgeorg & Stefano Mintchev

  2. WSL, 8903, Birmensdorf, Switzerland

    Steffen Kirchgeorg & Stefano Mintchev

  3. TU Delft, 2628 CD, Delft, Netherlands

    Bram Benist

Authors
  1. Steffen Kirchgeorg
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  2. Bram Benist
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  3. Stefano Mintchev
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Corresponding author

Correspondence to Steffen Kirchgeorg .

Editor information

Editors and Affiliations

  1. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    José M. Cascalho

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Armando Mendes

  5. Mechanical, Materials and Manufacturing Engineering (M3), Faculty of Engineering, University of Nottingham, Nottingham, UK

    Khaled Goher

  6. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Matthias Funk

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Kirchgeorg, S., Benist, B., Mintchev, S. (2023). Soft Gripper with Adjustable Microspines for Adhering to Tree Branches. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_9

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