Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2019-09-01 DOI:10.1177/1756829319877416

Pengfei Yu, Zihao Wang, K. Wong

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引用次数: 13

Abstract

Inspired by talon of a predator bird, this paper presents a quadrotor with two 2- Degree of Freedoms (DOFs) compliant manipulators which could mimic bird perching and grasping. The symmetric configuration of the manipulators causes minimum shift in center of gravity and a minimum disturbance to the angular momentum of the platform during grasping and perching maneuvers. Thus, the dynamics of the manipulator is independent to that of the platform. Moreover, a compliant end-effector is introduced to decouple the dynamics of the unmanned aerial vehicles from the force interaction with the environment or target objects. Therefore, aerial manipulation problem is significantly simplified due to the minimum amount of disturbance among components. In addition, the manipulators could function as the landing gear, which allows larger work envelope, weight saving and less landing impact. It also has the potential to achieve a bird-like “perch and watch” to increase the endurance of unmanned aerial vehicles in missions that involve extended endurance.

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利用双对称机械手和柔性末端执行器探索空中栖息和抓取

本文以捕食鸟类的爪子为灵感，设计了一种四旋翼飞行器，该飞行器具有两个2自由度柔性操纵臂，可以模拟鸟类的栖息和抓握。机械手的对称结构使抓取和栖息机动时重心位移最小，对平台角动量的干扰最小。因此，机械臂的动力学与平台的动力学无关。此外，引入柔性末端执行器将无人机的动力学与环境或目标物体的力相互作用解耦。因此，由于组件之间的干扰量最小，因此大大简化了空中操纵问题。此外，机械手可以作为起落架，这样可以实现更大的工作范围，减轻重量，减少着陆冲击。它也有可能实现像鸟一样的“栖息和观察”，以增加无人机在需要延长续航时间的任务中的续航能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.