AI 中文总结
针对空中物理交互的高力矩需求，本文提出基于双四旋翼的全驱动空中操纵器FAM-DQ，通过特定结构设计实现解耦6自由度控制，实验验证其具备高力矩输出能力。
AI 中文摘要
空中物理交互要求空中操纵平台能产生大的交互力与力矩，同时保持末端执行器的精确控制。然而，传统的欠驱动空中操纵器存在强位置-姿态耦合问题，而全驱动平台设计则常面临结构复杂、有效载荷能力有限、力矩输出不足的问题。本文提出FAM-DQ，一种基于双四旋翼的全驱动空中操纵器，专为高力矩物理交互任务设计。该设计通过被动关节将两个四旋翼推进模块安装在中心框架两端，并采用齿轮驱动伺服调节指向方向，实现了解耦的6自由度末端执行器控制，具备全向操纵能力和增强的力矩输出。包含轨迹跟踪、姿态跟踪、静态力矩测量和螺丝拧紧的实验验证了所提设计：FAM-DQ总质量为0.447kg时，最大力矩达1.019N·m，对应的力矩质量比为2.28N·m/kg。
英文摘要
Aerial physical interaction requires aerial manipulation platforms to generate large interaction forces and torques while maintaining precise end-effector control. However, conventional underactuated aerial manipulators suffer from strong position-attitude coupling, whereas fully actuated platform designs often face structural complexity, limited payload capacity, and insufficient torque output. This paper presents FAM-DQ, a dual-quadrotor based fully actuated aerial manipulator designed for high-torque physical interaction tasks. By mounting two quadrotor propulsion modules at the ends of a central frame through passive joints, while using a gear-driven servo to regulate the pointing direction, FAM-DQ achieves decoupled $6$-DoF end-effector control with omnidirectional manipulation capability and enhanced torque output. Experiments including trajectory tracking, attitude tracking, static torque measurement, and screw driving validate the proposed design. FAM-DQ achieves a maximum torque of $1.019~\mathrm{N}\cdot\mathrm{m}$ with a total mass of $0.447~\mathrm{kg}$, corresponding to a torque-to-mass ratio of $2.28~\mathrm{N}\cdot\mathrm{m/kg}$.
Comments7 pages, 7 figures
