US 12,153,448 B2
Object manipulator and payload management system for unmanned aerial vehicles (UAVs)
Dongbin Kim, Las Vegas, NV (US); and Paul Y. Oh, Las Vegas, NV (US)
Assigned to The Board of Regents of the Nevada System of Higher Education on Behalf of the University of Nevada, Las Vegas, NV (US)
Filed by The Board of Regents of the Nevada System of Higher Education on Behalf of the University of Nevada, Las Vegas, NV (US)
Filed on Jun. 15, 2021, as Appl. No. 17/348,453.
Claims priority of provisional application 63/039,226, filed on Jun. 15, 2020.
Prior Publication US 2021/0389783 A1, Dec. 16, 2021
Int. Cl. B64U 10/13 (2023.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B64D 1/22 (2006.01); B64U 60/00 (2023.01); G05D 1/00 (2006.01); B64U 101/64 (2023.01)
CPC G05D 1/106 (2019.05) [B25J 5/00 (2013.01); B25J 9/003 (2013.01); B25J 13/081 (2013.01); B25J 13/089 (2013.01); B25J 15/0052 (2013.01); B64D 1/22 (2013.01); B64U 60/00 (2023.01); G05D 1/0816 (2013.01); B64U 2101/64 (2023.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a base member comprising one or more attachment elements configured on a face of the base member;
a first plurality of rigid members extending from evenly spaced edges of the base member, wherein a proximal end of each rigid member of the first plurality of rigid members is rotatably and pivotally coupled to the base member by a respective hinge element, wherein each rigid member of the first plurality of rigid members comprises a respective plurality of predetermined weight-balance fixation positions and a respective repositionable weight configured to be removed from or secured at any one of the respective plurality of predetermined weight-balance fixation positions based on a respective actuator of a first plurality of actuators;
a second plurality of rigid members, wherein each rigid member of the second plurality of rigid members comprises a proximal end that is rotatably and pivotally coupled to a distal end of a rigid member of the first plurality of rigid members;
a gripper element, wherein the gripper element comprises a plurality of gripper members and a second plurality of actuators, wherein each gripper member of the plurality of gripper members is coupled to a distal end of a rigid member of the second plurality of rigid members by a joint, and wherein each actuator of the second plurality of actuators is coupled to a joint of a plurality of joints, wherein a first actuator of the first plurality of actuators and a second actuator of the second plurality of actuators are collectively configured to cause a corresponding gripper element to move with six degrees of freedom relative to another gripper member of the plurality of gripper members;
a plurality of sensors, wherein each sensor of the plurality of sensors is associated with a gripper member of the plurality of gripper members;
a control unit communicatively coupled to each actuator of the first plurality of actuators, each actuator of the second plurality of actuators, and each sensor of the plurality of sensors; and
an accelerometer configured to communicate orientation information to the control unit.