Aerial-Based Release and Retrieval Mechanisms for Ground Robot Deployment and Retrieval

Deployment and retrieval operation is still a chal-lenge for ground-based robots operating in remote or hazardous environments. In this study, two distinct mechanisms was in-troduced for release-retrieval operation of ground-based robots operating in harsh and risky environments. The two mechanisms are tethered to the drone and allow descending and ascending motion for deployment and retrieval operation, respectively. A quick attach and detach mechanism was implemented for the two distinct mechanisms in utilizing one drone with a tethered cable-spool system. The proposed mechanical design was further analyzed considering the design parameters and optimized the system in terms of design simplicity. The release mechanism has a simple configuration utilizing two parts that allow quick release of the ground robot payload while ensuring the safety of the ground robot's components inside that are sensitive to impact. Due to the ground robot's high-payload consideration, another component was installed on the ground robot that will attach to the tethered retrieval component, ensuring the safety of the ground robot from being dropped. The functionality of the tethered release and retrieval mechanisms was investigated through actual tests. The two distinct mechanisms demonstrated their capability of releasing and retrieving the ground robot, which is suitable for its deployment and retrieval operations in real-world scenarios.