A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application

The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perf...

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Autores: Nekoo, Saeed Rafee, Feliu-Talegon, Daniel, Acosta Rodríguez, José Ángel, Ollero Baturone, Aníbal
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2022
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/138502
Acceso en línea:https://hdl.handle.net/11441/138502
https://doi.org/10.1109/ACCESS.2022.3184110
Access Level:acceso abierto
Palabra clave:Flapping-wing robot
Lightweight manipulator
Aerial manipulation
Aerial robot
Leaf plucking
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spelling A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf ApplicationNekoo, Saeed RafeeFeliu-Talegon, DanielAcosta Rodríguez, José ÁngelOllero Baturone, AníbalFlapping-wing robotLightweight manipulatorAerial manipulationAerial robotLeaf pluckingThe manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer a safe interaction in proximity to humans. This technology also opens the possibility to perch in some trees and perform tasks such as obtaining samples from nature, enabling biologists to collect samples in remote places, or assisting people in rescue missions by carrying medicines or first-aid kits. This paper presents a very lightweight manipulator (79.7g) prototype to be mounted on an ornithopter. The distribution of the mass on the flapping-wing robot is sensitive and an extra lumped mass far from the center-of-mass (CoM) of the robot deteriorates the flight stability. A configuration was proposed to avoid changing the CoM. Flight experiments show that adding the arm to the robot only moved the CoM 6mm and the performance of the flight with the manipulator has been satisfactory. Plucking leaf is chosen as an application to the designed system and several experimental tests confirmed successful sampling of leaves by the prototype.IEEEIngeniería de Sistemas y AutomáticaTEP151: Robótica, Visión y ControlConsejo Europe de Investigación (ERC) - Proyecto GRIFFIN Action 788247Plan Andaluz de Investigación, Desarrollo e Innovación (PAIDI) Proyecto HOMPOT PY20_005972022info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/138502https://doi.org/10.1109/ACCESS.2022.3184110reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésIEEE Access, 10, 65300-65308.788247PY20_00597https://ieeexplore.ieee.org/document/9798824info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1385022026-06-17T12:51:07Z
dc.title.none.fl_str_mv A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
title A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
spellingShingle A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
Nekoo, Saeed Rafee
Flapping-wing robot
Lightweight manipulator
Aerial manipulation
Aerial robot
Leaf plucking
title_short A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
title_full A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
title_fullStr A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
title_full_unstemmed A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
title_sort A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
dc.creator.none.fl_str_mv Nekoo, Saeed Rafee
Feliu-Talegon, Daniel
Acosta Rodríguez, José Ángel
Ollero Baturone, Aníbal
author Nekoo, Saeed Rafee
author_facet Nekoo, Saeed Rafee
Feliu-Talegon, Daniel
Acosta Rodríguez, José Ángel
Ollero Baturone, Aníbal
author_role author
author2 Feliu-Talegon, Daniel
Acosta Rodríguez, José Ángel
Ollero Baturone, Aníbal
author2_role author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robótica, Visión y Control
Consejo Europe de Investigación (ERC) - Proyecto GRIFFIN Action 788247
Plan Andaluz de Investigación, Desarrollo e Innovación (PAIDI) Proyecto HOMPOT PY20_00597
dc.subject.none.fl_str_mv Flapping-wing robot
Lightweight manipulator
Aerial manipulation
Aerial robot
Leaf plucking
topic Flapping-wing robot
Lightweight manipulator
Aerial manipulation
Aerial robot
Leaf plucking
description The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer a safe interaction in proximity to humans. This technology also opens the possibility to perch in some trees and perform tasks such as obtaining samples from nature, enabling biologists to collect samples in remote places, or assisting people in rescue missions by carrying medicines or first-aid kits. This paper presents a very lightweight manipulator (79.7g) prototype to be mounted on an ornithopter. The distribution of the mass on the flapping-wing robot is sensitive and an extra lumped mass far from the center-of-mass (CoM) of the robot deteriorates the flight stability. A configuration was proposed to avoid changing the CoM. Flight experiments show that adding the arm to the robot only moved the CoM 6mm and the performance of the flight with the manipulator has been satisfactory. Plucking leaf is chosen as an application to the designed system and several experimental tests confirmed successful sampling of leaves by the prototype.
publishDate 2022
dc.date.none.fl_str_mv 2022
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/138502
https://doi.org/10.1109/ACCESS.2022.3184110
url https://hdl.handle.net/11441/138502
https://doi.org/10.1109/ACCESS.2022.3184110
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv IEEE Access, 10, 65300-65308.
788247
PY20_00597
https://ieeexplore.ieee.org/document/9798824
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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