{"id":499,"date":"2020-03-30T19:55:06","date_gmt":"2020-03-30T19:55:06","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/?page_id=499"},"modified":"2020-11-14T02:36:22","modified_gmt":"2020-11-14T02:36:22","slug":"manipulation","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/manipulation\/","title":{"rendered":"Manipulation"},"content":{"rendered":"<h3>Hardware Model:<\/h3>\n<p>The manipulation system consists of a a gripper model attached to the bottom of the drone. It was designed using solidworks. The image below shows the picture of the design.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-510 alignleft\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/Gripper.png\" alt=\"\" width=\"726\" height=\"432\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/Gripper.png 548w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/Gripper-300x178.png 300w\" sizes=\"auto, (max-width: 726px) 100vw, 726px\" \/><\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-507 alignleft\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/Magnetic_Gripper-1024x658.jpg\" alt=\"\" width=\"726\" height=\"466\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/Magnetic_Gripper-1024x658.jpg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/Magnetic_Gripper-300x193.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/Magnetic_Gripper-768x494.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/Magnetic_Gripper.jpg 1383w\" sizes=\"auto, (max-width: 726px) 100vw, 726px\" \/><\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>The design was specifically done in order to tackle the different types of stress and strain issues that will occur because of 3D printing.<\/p>\n<p>Below is the physically manufactured part printed with Black Nylon material.<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-508 alignleft\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/gripper-after-printing.png\" alt=\"\" width=\"604\" height=\"375\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/gripper-after-printing.png 450w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/gripper-after-printing-300x186.png 300w\" sizes=\"auto, (max-width: 604px) 100vw, 604px\" \/><\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<h3>\u00a0<\/h3>\n<h3><strong>Working:<\/strong><\/h3>\n<ul>\n<li>In order to conserve battery, Electro Permanent magnets were used instead of electro magnets as the gripper mechanism.<\/li>\n<li>The gripper mechanism is triggered using PWM signals which can be produced using a micro-controller.<\/li>\n<li>Arduino is beFINAL MANIPULATOR DESIGN :ing used for the initial tests and it will be replaced by Teensy in the future to facilitate the reduction in size and weight.<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-511 alignleft\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/WhatsApp-Image-2020-03-29-at-9.50.20-PM-1024x576.jpeg\" alt=\"\" width=\"686\" height=\"386\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/WhatsApp-Image-2020-03-29-at-9.50.20-PM-1024x576.jpeg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/WhatsApp-Image-2020-03-29-at-9.50.20-PM-300x169.jpeg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/WhatsApp-Image-2020-03-29-at-9.50.20-PM-768x432.jpeg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/03\/WhatsApp-Image-2020-03-29-at-9.50.20-PM.jpeg 1920w\" sizes=\"auto, (max-width: 686px) 100vw, 686px\" \/><\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<h3><strong>Gripper<\/strong><strong>\u00a0in simulation:<\/strong><\/h3>\n<p>Considering the fact that we had to move to simulation because of the unfortunate COVID-19 outbreak, the following is the progress made with respect to manipulation as a part of the simulation subsystem.<\/p>\n<ul>\n<li>The magnetic gripper is based on a plugin that uses the magnetic dipole-dipole model to compute the force and torque between multiple magnets.<\/li>\n<li>The plugin is enabled per model and looks for other models in the gazebo world that have the same plugin.<\/li>\n<li>It only simulates magnetic interactions between magnets.<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-708 alignleft\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/05\/gripper.png\" alt=\"\" width=\"409\" height=\"635\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/05\/gripper.png 379w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/05\/gripper-193x300.png 193w\" sizes=\"auto, (max-width: 409px) 100vw, 409px\" \/><\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u00a0<\/p>\n<h3>\u00a0<\/h3>\n<h3>\u00a0<\/h3>\n<h3>\u00a0<\/h3>\n<h3>\u00a0<\/h3>\n<h3>FINAL PACKAGE DESIGN :<\/h3>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-961\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/11\/image-2-1.png\" alt=\"\" width=\"711\" height=\"335\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/11\/image-2-1.png 711w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/11\/image-2-1-300x141.png 300w\" sizes=\"auto, (max-width: 711px) 100vw, 711px\" \/><\/p>\n<p><\/p>\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">FINAL MANIPULATOR DESIGN :<\/h3>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1005\" height=\"679\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/11\/image-6.png\" alt=\"\" class=\"wp-image-964\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/11\/image-6.png 1005w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/11\/image-6-300x203.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/11\/image-6-768x519.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-content\/uploads\/sites\/45\/2020\/11\/image-6-400x270.png 400w\" sizes=\"auto, (max-width: 1005px) 100vw, 1005px\" \/><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Hardware Model: The manipulation system consists of a a gripper model attached to the bottom of the drone. It was designed using solidworks. The image below shows the picture of the design. \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/manipulation\/\">+ Read More<\/a><\/p>\n","protected":false},"author":208,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-499","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/pages\/499","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/users\/208"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/comments?post=499"}],"version-history":[{"count":24,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/pages\/499\/revisions"}],"predecessor-version":[{"id":975,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/pages\/499\/revisions\/975"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/media?parent=499"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}