TY - GEN
T1 - A MODULAR CONTINUUM MANIPULATOR FOR AERIAL MANIPULATION AND PERCHING
AU - Zhao, Qianwen
AU - Zhang, Guoqing
AU - Jafarnejadsani, Hamidreza
AU - Wang, Long
N1 - Publisher Copyright:
Copyright © 2022 by ASME.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - aerial manipulation
KW - bio-inspired design
KW - cable-driven mechanisms
KW - compliant mechanisms
KW - mechanism design
KW - robot design
KW - stiffness modeling
KW - theoretical kinematics
UR - http://www.scopus.com/inward/record.url?scp=85142479983&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85142479983&partnerID=8YFLogxK
U2 - 10.1115/DETC2022-90595
DO - 10.1115/DETC2022-90595
M3 - Conference contribution
AN - SCOPUS:85142479983
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 46th Mechanisms and Robotics Conference (MR)
T2 - ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022
Y2 - 14 August 2022 through 17 August 2022
ER -