Cartesian Aerial Manipulator with Compliant Arm
This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm that integrates a gripper and an elastic linear force sensor. The proposed kinematic configuration improves the pos...
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doaj-6a40f22bf6644c8ca53422f0fb81fe2e2021-01-23T00:04:41ZengMDPI AGApplied Sciences2076-34172021-01-01111001100110.3390/app11031001Cartesian Aerial Manipulator with Compliant ArmAlejandro Suarez0Manuel Perez1Guillermo Heredia2Anibal Ollero3GRVC Robotics Labs, University of Seville, 41092 Sevilla, SpainGRVC Robotics Labs, University of Seville, 41092 Sevilla, SpainGRVC Robotics Labs, University of Seville, 41092 Sevilla, SpainGRVC Robotics Labs, University of Seville, 41092 Sevilla, SpainThis paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm that integrates a gripper and an elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy of the end effector with respect to robotic arms with revolute joints, where each coordinate of the Cartesian position depends on all the joint angles. The Cartesian base reduces the inertia of the manipulator and the energy consumption since it does not need to lift its own weight. Consequently, the required torque is lower and, thus, the weight of the actuators. The linear and angular deflection sensors of the arm allow the estimation, monitoring and control of the interaction wrenches exerted in two axes (XZ) at the end effector. The kinematic and dynamic models are derived and compared with respect to a revolute-joint arm, proposing a force-position control scheme for the aerial robot. A battery counterweight mechanism is also incorporated in the X–axis linear guide to partially compensate for the motion of the manipulator. Experimental results indoors and outdoors show the performance of the robot, including object grasping and retrieval, contact force control, and force monitoring in grabbing situations.https://www.mdpi.com/2076-3417/11/3/1001aerial manipulationCartesian manipulatorcompliancehexa-rotor |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Alejandro Suarez Manuel Perez Guillermo Heredia Anibal Ollero |
spellingShingle |
Alejandro Suarez Manuel Perez Guillermo Heredia Anibal Ollero Cartesian Aerial Manipulator with Compliant Arm Applied Sciences aerial manipulation Cartesian manipulator compliance hexa-rotor |
author_facet |
Alejandro Suarez Manuel Perez Guillermo Heredia Anibal Ollero |
author_sort |
Alejandro Suarez |
title |
Cartesian Aerial Manipulator with Compliant Arm |
title_short |
Cartesian Aerial Manipulator with Compliant Arm |
title_full |
Cartesian Aerial Manipulator with Compliant Arm |
title_fullStr |
Cartesian Aerial Manipulator with Compliant Arm |
title_full_unstemmed |
Cartesian Aerial Manipulator with Compliant Arm |
title_sort |
cartesian aerial manipulator with compliant arm |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2021-01-01 |
description |
This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm that integrates a gripper and an elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy of the end effector with respect to robotic arms with revolute joints, where each coordinate of the Cartesian position depends on all the joint angles. The Cartesian base reduces the inertia of the manipulator and the energy consumption since it does not need to lift its own weight. Consequently, the required torque is lower and, thus, the weight of the actuators. The linear and angular deflection sensors of the arm allow the estimation, monitoring and control of the interaction wrenches exerted in two axes (XZ) at the end effector. The kinematic and dynamic models are derived and compared with respect to a revolute-joint arm, proposing a force-position control scheme for the aerial robot. A battery counterweight mechanism is also incorporated in the X–axis linear guide to partially compensate for the motion of the manipulator. Experimental results indoors and outdoors show the performance of the robot, including object grasping and retrieval, contact force control, and force monitoring in grabbing situations. |
topic |
aerial manipulation Cartesian manipulator compliance hexa-rotor |
url |
https://www.mdpi.com/2076-3417/11/3/1001 |
work_keys_str_mv |
AT alejandrosuarez cartesianaerialmanipulatorwithcompliantarm AT manuelperez cartesianaerialmanipulatorwithcompliantarm AT guillermoheredia cartesianaerialmanipulatorwithcompliantarm AT anibalollero cartesianaerialmanipulatorwithcompliantarm |
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