Mechanical Design of a Manipulation System for Unmanned Aerial Vehicles

A.Q.L. Keemink, M. Fumagalli, S. Stramigioli, R. Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    57 Citations (Scopus)

    Abstract

    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 nondestructive 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.
    Original languageEnglish
    Title of host publication2012 IEEE International Conference on Robotics and Automation (ICRA)
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages3147-3152
    Number of pages6
    ISBN (Electronic)978-1-4673-1404-6
    ISBN (Print)978-1-4673-1403-9
    DOIs
    Publication statusPublished - May 2012
    Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
    Duration: 14 May 201218 May 2012

    Conference

    Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    Abbreviated titleICRA
    CountryUnited States
    CitySt. Paul
    Period14/05/1218/05/12

    Keywords

    • METIS-287919
    • EWI-22028
    • CE-Advanced Robotics

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  • Cite this

    Keemink, A. Q. L., Fumagalli, M., Stramigioli, S., & Carloni, R. (2012). Mechanical Design of a Manipulation System for Unmanned Aerial Vehicles. In 2012 IEEE International Conference on Robotics and Automation (ICRA) (pp. 3147-3152). IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ICRA.2012.6224749