一种具有推进器集成柔性连续体连杆的变形空中机器人，用于形状自适应空中操作
A Morphing Aerial Robot With Thruster-Integrated Flexible Continuum Links for Shape Adaptive Aerial Manipulation
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中文总结 AI 辅助
本文提出一种具有推进器集成柔性连续体连杆的变形空中机器人，通过软体连杆被动适应环境形状并沿连杆分布推进器扩展力旋量空间，实现高形状适应性和大交互力，并首次实现柔性连杆集成推进器的空中操作。
中文摘要 AI 辅助
近年来，空中操作作为扩展空中机器人应用的关键技术，日益受到关注。在本工作中，我们聚焦于实现多功能空中操作的两个主要研究方向：（i）利用软体操作器获取高环境适应性，以及（ii）通过沿操作器分布推进器来扩展可行力旋量空间。然而，目前尚无空中机器人能同时满足这两个要求。因此，本文提出一种具有柔性连续体连杆的变形旋翼分布式空中机器人，该机器人同时实现了高形状适应性和扩展的力旋量空间。柔性连续体连杆作为软体操作器，被动地顺应环境形状，而沿连续体连杆分布的推进器则扩展了可行推力旋量空间，使末端执行器能够施加较大的交互力。为实现所提出的机器人，抑制轻质连续体连杆的振动至关重要。为此，我们开发了一种复合板簧结构，该结构同时提供高扭转刚度和垂直刚度，并设计了振动抑制控制方法。利用这些实现，我们展示了稳定飞行和多种空中操作任务。据我们所知，这是首个利用集成推进器的柔性连杆实现空中操作的工作。
英文摘要
In recent years, aerial manipulation has attracted increasing attention as a key to expand the application of aerial robots. In this work, we focus on two major research directions for achieving versatile aerial manipulation: (i) acquiring high environmental adaptability using soft manipulators, and (ii) expanding the feasible wrench space by distributing thrusters along the manipulator. However, no aerial robot has simultaneously satisfied these two requirements. Therefore, in this paper, we propose a morphing rotor-distributed aerial robot with flexible continuum links that achieves both high shape adaptability and an expanded wrench space. The flexible continuum links function as soft manipulators, passively conforming to the shape of the environment, while the thrusters distributed along the continuum links expand the feasible thrust wrench space and enable the end-effector to exert large interaction forces. To realize the proposed robot, it is essential to suppress vibrations of the lightweight continuum links. Thus, we develop a composite leaf-spring structure that provides both high torsional and vertical stiffness, and vibration-suppressing control methods. Using these implementations, we demonstrate stable flight and a variety of aerial manipulation tasks. To the best of our knowledge, this is the first work to realize aerial manipulations using flexible links with an integrated thruster.
发表机构
- The University of Tokyo（东京大学）
机构由 AI 辅助整理，请以论文原文为准。
