TRADY的设计、控制与运动策略：具备自主空中组装与拆卸能力的倾转旋翼空中机器人
Design, Control, and Motion Strategy of TRADY: Tilted-Rotor-Equipped Aerial Robot With Autonomous In-Flight Assembly and Disassembly Ability
AI总结：
本文提出倾转旋翼空中机器人TRADY，通过飞行中自主组装与拆卸实现欠驱动与全驱动模式切换，兼顾机动性与操作能力，实验成功率90%，组装扭矩提升九倍以上。
摘要：
在以往的研究中，人们开发了多种空中机器人以提高机动性或操作能力。然而，同时实现机动性和操作能力一直是一个挑战。这是因为具有高机动性的空中机器人缺乏执行操作任务所需的旋翼，而具有操作能力的机器人又过于庞大而难以实现高机动性。为解决这一问题，本文介绍了一种名为TRADY的新型空中机器人。TRADY是一种配备倾转旋翼的空中机器人，能够在飞行中自主组装和拆卸，从而在欠驱动模型和全驱动模型之间切换控制模式。该系统具有新颖的对接机构和优化的旋翼配置，以及能够在欠驱动和全驱动模式之间转换并补偿离散变化的控制系统。此外，还提出了一种新的组装/拆卸运动策略，包括从危险状态中恢复的行为。实验结果表明，TRADY能够以90%的成功率成功执行空中组装/拆卸运动，并且在组装状态下产生超过单个单元九倍的扭矩。这是首个能够在全驱动和欠驱动模型之间无缝转换的同时执行组装和拆卸的机器人系统。
英文摘要：
In previous research, various types of aerial robots were developed to improve maneuverability or manipulation abilities. However, there was a challenge in achieving both mobility and manipulation capabilities simultaneously. This is because aerial robots with high mobility lack the necessary rotors to perform manipulation tasks, while those with manipulation ability are too large to achieve high mobility. To address this issue, a new aerial robot called TRADY was introduced in this article. TRADY is a tilted-rotor-equipped aerial robot that can autonomously assemble and disassemble in-flight, allowing for a switch in control model between under-actuated and fully-actuated models. The system features a novel docking mechanism and optimized rotor configuration, as well as a control system that can transition between under-actuated and fully-actuated modes and compensate for discrete changes. Additionally, a new motion strategy for assembly/disassembly motion that includes recovery behavior from hazardous conditions was introduced. Experimental results showed that TRADY can successfully execute aerial assembly/disassembly motions with a 90% success rate and generate more than nine times the torque of a single unit in the assembly state. This is the first robot system capable of performing both assembly and disassembly while seamlessly transitioning between fully-actuated and under-actuated models.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
