Apparatus, systems, and methods to grasp and release packages at an unmanned vehicle

An apparatus, comprising:

• a first member;
• a second member configured to be coupled to a tether;
• a first link pivotably coupled to the second member;
• a second link pivotably coupled to the second member;
• a third link pivotably coupled to the first member, pivotably coupled to the first link, and configured to be removably coupled to a package;
• and
• a fourth link pivotably coupled to the first member, pivotably coupled to the second link, and configured to be removably coupled to the package,
• the third link and the fourth link collectively move from a closed configuration to an open configuration when (1) the package is lowered to a landing surface, (2) the second member is raised relative to the package, and (3) the first member moves lower relative to the second member causing a proximal end portion of the third link and a proximal end portion of the fourth link to lower and causing a distal end portion of the third link and a distal end portion of the fourth link away from each other,
• the third link and the fourth link collectively move from the open configuration to the closed configuration when at least one of (1) the second member, the first link, the second link, the third link, the fourth link, and the first member, collectively, are at least partially received in a receptacle positioned above the second member, or (2) a package is raised into a slot defined by the first member, the at least one of the second member, the first link, the second link, the third link, the fourth link, and the first member, collectively, are at least partially received in the receptacle or the package is raised into the slot defined by the first member causing the proximal end portion of the third link and the proximal end portion of the fourth link to move upward, causing the distal end portion of the third link and the distal end portion of the fourth link towards each other and causing at least a portion of the distal end portion of the third link and at least a portion the distal end portion of the fourth link to be disposed within an opening of the package.

A method, comprising:

• moving a grasper from an open configuration to a closed configuration to grasp a package at a first location,
• the grasper including a first member, a second member configured to be coupled to a tether, a first link pivotably coupled to the second member, a second link pivotably coupled to the second member, a third link pivotably coupled to the first member and pivotably coupled to the first link, and a fourth link pivotably coupled to the second member and pivotably coupled to the second link,
• the moving the grasper from the open configuration to the closed configuration including at least one of (1) moving at least a portion of the grasper into a receptacle slidably coupled to the tether or (2) raising the package into a slot defined by the first member, the at least one of the moving the at least the portion of the grasper or the raising causing a proximal end portion of a third link of the grasper and a proximal end portion of a fourth link of the grasper upward, causing a distal end portion of the third link and a distal end portion of the fourth link towards each other, and causing at least a portion of the distal end portion of the third link and at least a portion the distal end portion of the fourth link to be disposed within an opening of the package;
• and
• moving the grasper from the closed configuration to the open configuration to release the package at a second location different from the first location,
• the moving the grasper from the closed configuration to the open configuration including lowering the package to a landing surface, raising the second member relative to the package after the lowering the package, and lowering the first member relative to the second member causing the proximal end portion of the third link and the proximal end portion of the fourth link to move downwards and causing the distal end portion of the third link and the distal end portion of the fourth link to move away from each other.