Understanding the critical design parameters of aerial manipulators during physical interaction

Bartelds, J.T. (2015) Understanding the critical design parameters of aerial manipulators during physical interaction.

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Abstract:This article first describes the physical interaction of UAVs from a generic viewpoint, after which it is tailored to the specific case of aerial impacts. The goal throughout the analysis is the identification of critical manipulator design parameters. It is shown that positioning the contact point and incorporating the right impedance properties is crucial in order to successfully absorb an impact. A hybrid manipulator, i.e. one combining active and passive joints, is proposed to adequately fulfil these requirements. The passive joint is suspended by springs, which function as a buffer capable of absorbing the kinetic energy during the impact. This flow of energy is made irreversible by means of a mechanical locking mechanism. The significance of each of the identified parameters and design considerations is demonstrated through experiments that compare the optimal design to other configurations. Moreover, the experiments show that the proposed manipulator is capable of handling the impact, such that the UAV transitions into a stable contact situation.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/69357
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