Winged Aerial Manipulation Robot with Dual Arm and Tail

This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is mo...

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Detalles Bibliográficos
Autores: Suárez Fernández-Miranda, Alejandro, Grau, Pedro, Heredia Benot, Guillermo, Ollero Baturone, Aníbal
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2020
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/129895
Acceso en línea:https://hdl.handle.net/11441/129895
https://doi.org/10.3390/app10144783
Access Level:acceso abierto
Palabra clave:Winged aerial manipulation robot
Dual arm
Aerodynamics
Gliding
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spelling Winged Aerial Manipulation Robot with Dual Arm and TailSuárez Fernández-Miranda, AlejandroGrau, PedroHeredia Benot, GuillermoOllero Baturone, AníbalWinged aerial manipulation robotDual armAerodynamicsGlidingThis paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy e cient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing. The arms, fuselage, and tail are covered by a nylon cloth that acts as a cap, similar to a kite. The three joints of the arms (shoulder yaw and pitch, elbow pitch) can be used to control the surface area and orientation and thus the aerodynamic wrenches induced over the cloth. The proposed concept design is extended to a flapping-wing aerial robot built with smart servo actuators and a similar frame structure, allowing the generation of di erent flapping patterns exploiting the embedded servo controller. Experimental and simulation results carried out with these two prototypes evaluate the manipulation capability and the possibility of gliding and flying.Unión Europea Acción 788247Unión Europea H2020-2019-871479Ministerio de Economia, Industria y Competitividad DPI2017-89790-RMinisterio de Economia, Industria y Competitividad RTI2018-102224-B-I00MDPIIngeniería de Sistemas y AutomáticaTEP151: Robótica, Visión y ControlEuropean Research Council (ERC)European Union (UE)Ministerio de Economia, Industria y Competitividad (MINECO). España2020info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/129895https://doi.org/10.3390/app10144783reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésApplied Sciences, 10 (14). Article number 4783.Acción 788247H2020-2019-871479DPI2017-89790-RRTI2018-102224-B-I00https://doi.org/10.3390/app10144783info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1298952026-06-17T12:51:07Z
dc.title.none.fl_str_mv Winged Aerial Manipulation Robot with Dual Arm and Tail
title Winged Aerial Manipulation Robot with Dual Arm and Tail
spellingShingle Winged Aerial Manipulation Robot with Dual Arm and Tail
Suárez Fernández-Miranda, Alejandro
Winged aerial manipulation robot
Dual arm
Aerodynamics
Gliding
title_short Winged Aerial Manipulation Robot with Dual Arm and Tail
title_full Winged Aerial Manipulation Robot with Dual Arm and Tail
title_fullStr Winged Aerial Manipulation Robot with Dual Arm and Tail
title_full_unstemmed Winged Aerial Manipulation Robot with Dual Arm and Tail
title_sort Winged Aerial Manipulation Robot with Dual Arm and Tail
dc.creator.none.fl_str_mv Suárez Fernández-Miranda, Alejandro
Grau, Pedro
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author Suárez Fernández-Miranda, Alejandro
author_facet Suárez Fernández-Miranda, Alejandro
Grau, Pedro
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author_role author
author2 Grau, Pedro
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author2_role author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robótica, Visión y Control
European Research Council (ERC)
European Union (UE)
Ministerio de Economia, Industria y Competitividad (MINECO). España
dc.subject.none.fl_str_mv Winged aerial manipulation robot
Dual arm
Aerodynamics
Gliding
topic Winged aerial manipulation robot
Dual arm
Aerodynamics
Gliding
description This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy e cient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing. The arms, fuselage, and tail are covered by a nylon cloth that acts as a cap, similar to a kite. The three joints of the arms (shoulder yaw and pitch, elbow pitch) can be used to control the surface area and orientation and thus the aerodynamic wrenches induced over the cloth. The proposed concept design is extended to a flapping-wing aerial robot built with smart servo actuators and a similar frame structure, allowing the generation of di erent flapping patterns exploiting the embedded servo controller. Experimental and simulation results carried out with these two prototypes evaluate the manipulation capability and the possibility of gliding and flying.
publishDate 2020
dc.date.none.fl_str_mv 2020
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/11441/129895
https://doi.org/10.3390/app10144783
url https://hdl.handle.net/11441/129895
https://doi.org/10.3390/app10144783
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Applied Sciences, 10 (14). Article number 4783.
Acción 788247
H2020-2019-871479
DPI2017-89790-R
RTI2018-102224-B-I00
https://doi.org/10.3390/app10144783
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 MDPI
publisher.none.fl_str_mv MDPI
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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