Methods and apparatus to grasp an object with an unmanned aerial vehicle
Methods and apparatus to grasp an object with an unmanned aerial vehicle are described herein. An example unmanned aerial vehicle includes a gripper having a claw to grasp onto an object and an active material disposed on the claw. The example unmanned aerial vehicle further includes a material activator to: (1) apply an activation signal to the active material to soften the active material while the claw grasps the object with the active material, and (2) allow the active material to harden in a shape substantially matching a surface of the object.
1. An unmanned aerial vehicle (UAV) comprising:
a gripper including:
a first claw and a second claw to grasp onto an object;
a first active material disposed on the first claw; and
a second active material disposed on the second claw; and
a material activator to: (1) apply an activation signal to the first active material to soften the first active material while the first claw grasps the object with the first active material, and (2) allow the first active material to harden in a shape at least partially conforming to a contour of the object.
2. The UAV of claim 1 , wherein the first active material is a shape-memory polymer (SMP) material.
3. The UAV of claim 2 , wherein the activation signal is heat, and the material activator is to apply the activation signal by heating the SMP material to a temperature above a glass transition temperature T g of the SMP material.
4. The UAV of claim 3 , wherein the material activator is to allow the first active material to harden by allowing the temperature of the SMP material to fall below the glass transition temperature T g .
5. The UAV of claim 3 , further including a heater disposed in or near the SMP material, the material activator to control the heater.
6. The UAV of claim 2 , wherein the SMP material includes at least one of polyether ether ketone (PEEK), polyethylene terephthalate (PET), poly(methyl methacrylate) (PMMA), trimethylolpropane triacrylate (TMPTA), or isobornyl methacrylate (MA/IBoA).
7. The UAV of claim 1 , wherein the first and second claws are cooperatively moveable in opposite directions to grasp the object.
8. The UAV of claim 7 , wherein the first active material is coupled to an inner surface of the first claw, and the second active material is coupled to an inner surface of the second claw.
9. The UAV of claim 1 , further including a moveable arm extending from a body of the UAV, the gripper coupled to an end of the arm.
10. The UAV of claim 1 , further including a system manager to, while the gripper is attached to the object, deactivate one or more systems of the UAV to conserve power.
11. A method to grasp an object with an unmanned aerial vehicle (UAV), the method comprising:
heating, by executing an instruction with at least one processor, an active material carried by a gripper;
closing, by executing an instruction with the at least one processor, the gripper onto the object while the active material is above a threshold temperature, the active material having a loop shape when the gripper is closed; and
reducing a temperature of the active material while the gripper is closed on the obj ect.
12. The method of claim 11 , wherein the closing of the gripper while the active material is above the threshold temperature causes the active material to conform to a contour of the object.
13. The method of claim 12 , wherein the reducing of the temperature causes the active material to harden while retaining the contour of the object.
14. The method of claim 11 , further including, after reducing the temperature of the active material, deactivating, by executing an instruction with the at least one processor, one or more systems of the UAV.
15. A non-transitory machine readable storage medium comprising instructions that, when executed, cause at least one machine to at least:
apply an activation signal to an active material, the active material disposed on a gripper carried on an unmanned aerial vehicle (UAV);
close the gripper onto an object such that the active material is engaged with the object, the active material forming a ring shape when the gripper is closed; and
reduce the activation signal after the gripper is closed onto the object.
16. The non-transitory machine readable storage medium of claim 15 , wherein the instructions, when executed, cause the at least one machine to apply the activation signal by heating the active material to a temperature above a glass transition temperature T g of the active material.
17. The non-transitory machine readable storage medium of claim 15 , wherein the instructions, when executed, cause the at least one machine to apply the activation signal by applying a voltage or an ultraviolet light to the active material.
18. The non-transitory machine readable storage medium of claim 15 , wherein the instructions cause the at least one machine to apply the activation signal to the active material to cause the active material to transition from a first state having a first modulus of elasticity to a second state having a second modulus of elasticity, the second modulus of elasticity lower than the first modulus of elasticity.
19. The non-transitory machine readable storage medium of claim 15 , wherein the instructions, when executed, further cause the at least one machine to:
open the gripper to release the object; and
after the gripper is opened, apply the activation signal to the active material.
20. The non-transitory machine readable storage medium of claim 15 , wherein the instructions, when executed, further cause the at least one machine to:
after closing the gripper onto the object, cease power to one or more rotor blade motors of the UAV.