Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor Drones
Multirotor drones are widely used in fields such as environmental monitoring, agricultural inspection, and package delivery, but they still face numerous challenges in durability and aerial operation capabilities. To address these issues, this paper presents a biomimetic leg-claw mechanism (LCM) ins...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/1/10 |
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| author | Yan Zhao Ruzhi Xiang Hui Li Chang Wang Jianhua Zhang Xuan Liu Yufei Hao |
| author_facet | Yan Zhao Ruzhi Xiang Hui Li Chang Wang Jianhua Zhang Xuan Liu Yufei Hao |
| author_sort | Yan Zhao |
| collection | DOAJ |
| description | Multirotor drones are widely used in fields such as environmental monitoring, agricultural inspection, and package delivery, but they still face numerous challenges in durability and aerial operation capabilities. To address these issues, this paper presents a biomimetic leg-claw mechanism (LCM) inspired by the biomechanics of birds. The claw of the LCM adopts a bistable gripper design that can rapidly close through external impact or actively close via the coordination of internal mechanisms. Additionally, its foldable, parallelogram-shaped legs bend under external forces, stretching the main tendon. A ratchet and pawl mechanism at the knee joint locks the leg in the bent position, thereby enhancing the gripping force of the claw. This paper calculates and experimentally verifies the degrees of freedom in different states, the forces required to open and close the gripper, the application scenarios of active and passive grasping, and the maximum load capacity of the mechanism. Furthermore, perching experiments demonstrate that the LCM enables the drone to perch stably on objects of varying diameters. |
| format | Article |
| id | doaj-art-e26ce7c076f443cf8f55715a6200aecc |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-e26ce7c076f443cf8f55715a6200aecc2025-01-24T13:24:34ZengMDPI AGBiomimetics2313-76732024-12-011011010.3390/biomimetics10010010Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor DronesYan Zhao0Ruzhi Xiang1Hui Li2Chang Wang3Jianhua Zhang4Xuan Liu5Yufei Hao6School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300131, ChinaSchool of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300131, ChinaSchool of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaMultirotor drones are widely used in fields such as environmental monitoring, agricultural inspection, and package delivery, but they still face numerous challenges in durability and aerial operation capabilities. To address these issues, this paper presents a biomimetic leg-claw mechanism (LCM) inspired by the biomechanics of birds. The claw of the LCM adopts a bistable gripper design that can rapidly close through external impact or actively close via the coordination of internal mechanisms. Additionally, its foldable, parallelogram-shaped legs bend under external forces, stretching the main tendon. A ratchet and pawl mechanism at the knee joint locks the leg in the bent position, thereby enhancing the gripping force of the claw. This paper calculates and experimentally verifies the degrees of freedom in different states, the forces required to open and close the gripper, the application scenarios of active and passive grasping, and the maximum load capacity of the mechanism. Furthermore, perching experiments demonstrate that the LCM enables the drone to perch stably on objects of varying diameters.https://www.mdpi.com/2313-7673/10/1/10aerial manipulatorbiomimetic leg-claw mechanismpassive-active graspingperching with tendongripping force analysis |
| spellingShingle | Yan Zhao Ruzhi Xiang Hui Li Chang Wang Jianhua Zhang Xuan Liu Yufei Hao Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor Drones Biomimetics aerial manipulator biomimetic leg-claw mechanism passive-active grasping perching with tendon gripping force analysis |
| title | Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor Drones |
| title_full | Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor Drones |
| title_fullStr | Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor Drones |
| title_full_unstemmed | Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor Drones |
| title_short | Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor Drones |
| title_sort | design and validation of a biomimetic leg claw mechanism capable of perching and grasping for multirotor drones |
| topic | aerial manipulator biomimetic leg-claw mechanism passive-active grasping perching with tendon gripping force analysis |
| url | https://www.mdpi.com/2313-7673/10/1/10 |
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