ICRA 2012 Paper Abstract


Paper WeC210.2

Keemink, Arvid Q.L. (University of Twente), Fumagalli, Matteo (University of Twente), Stramigioli, Stefano (University of Twente), Carloni, Raffaella (University of Twente)

Mechanical Design of a Manipulation System for Unmanned Aerial Vehicles

Scheduled for presentation during the Interactive Session "Interactive Session WeC-2" (WeC210), Wednesday, May 16, 2012, 15:00−15:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 19, 2017

Keywords Aerial Robotics, Mechanism Design of Manipulators


In this paper, we present the mechanical design and modeling of a manipulation system for unmanned aerial vehicles, which have to physically interact with environments and perform ultrasonic non-destructive testing experiments and other versatile tasks at unreachable locations for humans. The innovation of the prototype lies in the use of a three degrees of freedom Delta robotic manipulator together with a non- destructive testing end effector, realized by a Cardan gimbal that allows the ultrasonic sensor to compliantly interact with the remote environment. The Cardan gimbal is endowed with a small actuator for the roll motion of the end-effector, a compliant element in the direction of interaction and two passive rotational degrees of freedom with defined equilibria to overcome gravity and to define a stable zero reference. Simulation results of a ducted-fan unmanned aerial vehicle interacting with a wall validate the overall mechanical design.



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