Lightweight Multipurpose Three-Arm Aerial Manipulator Systems for UAV Adaptive Leveling after Landing and Overhead Docking

In aerial manipulation, the position and size of a manipulator attached to an aerial robot defines its workspace relative to the robot. However, the working region of a multipurpose robot is determined by its task and is not always predictable prior to deployment. In this paper, the development of a...

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Bibliographic Details
Published in:Drones (Basel) 2022-11, Vol.6 (12), p.380
Main Authors: Paul, Hannibal, Martinez, Ricardo Rosales, Ladig, Robert, Shimonomura, Kazuhiro
Format: Article
Language:English
Subjects:
aerial manipulation
Airframes
Control algorithms
Control systems
Design
Design and construction
Docking
Drone aircraft
Landing
landing gear
Lightweight
manipulator design
Manipulators
multi-purpose manipulator
Robot arms
Robots
Unmanned aerial vehicles
unmanned aerial vehicles (UAVs)
Workspace
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Description
Summary:In aerial manipulation, the position and size of a manipulator attached to an aerial robot defines its workspace relative to the robot. However, the working region of a multipurpose robot is determined by its task and is not always predictable prior to deployment. In this paper, the development of a multipurpose manipulator design for a three-armed UAV with a large workspace around its airframe is proposed. The manipulator is designed to be lightweight and slim in order to not disrupt the UAV during in-flight manipulator movements. In the experiments, we demonstrate various advanced and critical tasks required of an aerial robot when deployed in a remote environment, focusing on the landing and docking tasks, which is accomplished using a single manipulator system.
ISSN:2504-446X
2504-446X
DOI:10.3390/drones6120380