Soliro——一种最少执行器的混合式动态倾转旋翼空中机械臂
Soliro -- a hybrid dynamic tilt-wing aerial manipulator with minimal actuators
AI总结：
本文提出Soliro，一种融合全向空中机械臂与VTOL混合平台的5DOF分体倾转翼机器人，仅用最少执行器且无需传统控制面，并通过风洞和过渡飞行验证其性能。
摘要：
飞行机器人能够接触并操作物理对象，从而实现许多新型应用，例如接触式检测、喷涂、钻孔和样本采集。通常，这些空中机器人需要比标准四旋翼更多的自由度。尽管目前对过驱动、全向MAV（微型飞行器）和空中机械臂，以及VTOL（垂直起降）和混合平台都有活跃研究，但这两个概念尚未被结合起来。我们解决了一种5DOF旋翼/固定翼混合、倾转旋翼、分体式倾转翼、近全向空中机器人的概念化、表征、控制和测试问题。我们提出了一种简洁的解决方案，采用最少数量的执行器，并且不需要任何传统控制面或襟翼。该概念通过风洞研究以及多次包含前向和后向过渡的飞行得到验证。固定翼飞行速度达到10 m/s，与旋翼飞行相比功耗降低30%。
英文摘要：
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more degrees of freedom than a standard quadrotor. While there is active research of over-actuated, omnidirectional MAVs and aerial manipulators as well as VTOL and hybrid platforms, the two concepts have not been combined. We address the problem of conceptualization, characterization, control, and testing of a 5DOF rotary-/fixed-wing hybrid, tilt-rotor, split tilt-wing, nearly omnidirectional aerial robot. We present an elegant solution with a minimal set of actuators and that does not need any classical control surfaces or flaps. The concept is validated in a wind tunnel study and in multiple flights with forward and backward transitions. Fixed-wing flight speeds up to 10 m/s were reached, with a power reduction of 30% as compared to rotary wing flight.
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。
