A MODULAR CONTINUUM MANIPULATOR FOR AERIAL MANIPULATION AND PERCHING

Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani, Long Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance of continuum manipulators. To achieve this goal, we present the novel design of a compact, lightweight, and modular cable-driven continuum manipulator for aerial drones. We then derive a complete modeling framework for its kinematics, statics, and stiffness (compliance). The framework is essential for integrating the manipulator to aerial drones. Finally, we report preliminary experimental validations of the hardware prototype, providing insights on its manipulation feasibility. Future work includes the integration and test of the proposed continuum manipulator with aerial drones.

Original languageEnglish
Title of host publication46th Mechanisms and Robotics Conference (MR)
ISBN (Electronic)9780791886281
DOIs
StatePublished - 2022
EventASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022 - St. Louis, United States
Duration: 14 Aug 202217 Aug 2022

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume7

Conference

ConferenceASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022
Country/TerritoryUnited States
CitySt. Louis
Period14/08/2217/08/22

Keywords

  • aerial manipulation
  • bio-inspired design
  • cable-driven mechanisms
  • compliant mechanisms
  • mechanism design
  • robot design
  • stiffness modeling
  • theoretical kinematics

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