# US 10,766,617 B2 · Methods and apparatus to grasp an object with an unmanned aerial vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,617 B2 - Document ID: US10766617B2 - Status: Granted - Kind: B2 - Application number: 15/811,098 - Filed: 2017-11-13 - Published: 2019-02-14 - Granted: 2020-09-08 - Earliest claimed: 2017-11-13 - Assignees: Intel Corporation - Applicants: Intel Corporation - Inventors: Paul Gwin - Web page: https://patentgrep.com/patent/US10766617B2 ## CPC - B25J 9/1085: {positioning by means of shape-memory materials (shape memory actuators F03G7/06)} - B25J 9/1095: {chemically actuated} - B25J 15/00: Gripping heads {and other end effectors (grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used for mounting electrical components H05K13/04; gripping means used in the manufacture of semiconductors H10P72/7602)} - B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces} - B64D 1/02: Dropping, ejecting, or releasing articles (jettisonable fuel reservoirs B64D37/12) - B64D 1/22: Taking-up articles from earth's surface - B64U 10/16: with five or more distinct rotor axes, e.g. octocopters - F03G 7/0612: {using polymers} - B64U 10/10: Rotorcrafts - B64U 50/30: Supply or distribution of electrical power - B64U 2101/31: for surveillance - B64U 2101/64: for parcel delivery or retrieval - B64U 2201/20: Remote controls - C08G 2280/00: Compositions for creating shape memory - F03G 7/0614: {using shape memory elements} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - F03G: SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR (arrangements in connection with power supply in vehicles from force of nature B60K16/00; electric propulsion with power supply in vehicles from force of nature B60L8/00) - C08G: MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS ## Abstract 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. ## Claims ### Claim 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. ### Claim 2 (depends on 1) The UAV of claim 1, wherein the first active material is a shape-memory polymer (SMP) material. ### Claim 3 (depends on 2) 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 Tg of the SMP material. ### Claim 4 (depends on 3) 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 Tg. ### Claim 5 (depends on 3) The UAV of claim 3, further including a heater disposed in or near the SMP material, the material activator to control the heater. ### Claim 6 (depends on 2) 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). ### Claim 7 (depends on 1) The UAV of claim 1, wherein the first and second claws are cooperatively moveable in opposite directions to grasp the object. ### Claim 8 (depends on 7) 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. ### Claim 9 (depends on 1) 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. ### Claim 10 (depends on 1) 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. ### Claim 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. ### Claim 12 (depends on 11) 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. ### Claim 13 (depends on 12) The method of claim 12, wherein the reducing of the temperature causes the active material to harden while retaining the contour of the object. ### Claim 14 (depends on 11) 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. ### Claim 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. ### Claim 16 (depends on 15) 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 Tg of the active material. ### Claim 17 (depends on 15) 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. ### Claim 18 (depends on 15) 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. ### Claim 19 (depends on 15) 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. ### Claim 20 (depends on 15) 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.