一种由载荷无人机与灵巧垂降末端机器人组成的协作空中系统，用于杂乱空间拾取
A Cooperative Aerial System of A Payload Drone Equipped with Dexterous Rappelling End Droid for Cluttered Space Pickup
AI总结：
针对杂乱空间缆绳易缠绕问题，提出载荷无人机与灵巧垂降末端机器人协作系统，通过轨迹优化和缆绳动力学模型实现安全拾取，仿真与实验验证了有效性。
摘要：
在森林等杂乱空间中，无人机通过垂降爪拾取载荷是一个开放性的挑战，因为缆绳容易被树枝和障碍物缠绕或阻挡。为应对这一挑战，本文提出了一种协作空中系统，由载荷无人机和灵巧垂降末端机器人组成。两端通过凯夫拉缆绳连接。末端机器人由四个螺旋桨驱动，能够实现空中对抓取角度的灵巧调整，并引导缆绳运动。为避免缠绕和垂降障碍，开发了一种集成缆绳长度约束和动态可行性的轨迹优化方法，从而保证安全拾取。建立了缆绳动力学模型，以评估实时缆绳状态，同时考虑张紧和松弛条件。进行了仿真和真实世界实验，以证明所提系统能够在杂乱空间中拾取载荷。结果表明，在缆绳约束下，末端机器人能够成功到达目标点，并在提升阶段无需推进即可实现被动回收，从而实现有效且高效的空中操作。
英文摘要：
In cluttered spaces, such as forests, drone picking up a payload via an abseil claw is an open challenge, as the cable is likely tangled and blocked by the branches and obstacles. To address such a challenge, in this work, a cooperative aerial system is proposed, which consists of a payload drone and a dexterous rappelling end droid. The two ends are linked via a Kevlar tether cable. The end droid is actuated by four propellers, which enable mid-air dexterous adjustment of clawing angle and guidance of cable movement. To avoid tanglement and rappelling obstacles, a trajectory optimization method that integrates cable length constraints and dynamic feasibility is developed, which guarantees safe pickup. A tether cable dynamic model is established to evaluate real-time cable status, considering both taut and sagging conditions. Simulation and real-world experiments are conducted to demonstrate that the proposed system is capable of picking up payload in cluttered spaces. As a result, the end droid can reach the target point successfully under cable constraints and achieve passive retrieval during the lifting phase without propulsion, which enables effective and efficient aerial manipulation.
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。
