An Avian-Inspired Passive Mechanism for Quadrotor Perching

Abstract

Flying robots capable of perch-and-stare are desirable for reconnaissance missions. Inspired by an adaptation that enables songbirds to sleep in trees without active muscle control, the research presented herein details the design for a passive mechanism that enables a rotorcraft to perch reminiscent of a bird perching on a tree branch. Perching is accomplished through the integration of a compliant, underactuated gripping foot and a collapsing leg mechanism that converts rotorcraft weight into tendon tension in order to passively actuate the foot. Analysis of mechanism behavior is presented, and stability tests were performed to characterize the ability of the system to reject disturbances. The results indicate that it is possible to passively perch a rotorcraft on multiple surfaces and support reasonable environmental disturbances. The analysis in this paper can enable passive perching design optimization in vertical takeoff and landing systems.

Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy

“…Since the device does not require any power input to sustain the rigid state, this feature may contribute to the perching of mobile robots, e.g., a flying robot where the available power source is limited [29]. The controllable stiffness allows us to have variable mechanical impedance which would enable various dynamic behaviors of the system e.g., asymmetric deformation of a periodically actuated structure could produce one way thrust like a jellyfish [30].…”

Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor

“…In particular, there has been significant interest in unmanned multirotor helicopters [4][5][6][7][8][9][10][11]. This is primarily due to the wide range of applications and to their mechanical simplicity and durability.…”

Dynamics Modeling and Control of a Quadrotor with Swing Load

“…One of these applications is transportation of external loads. Different grippers for grasping and transporting of a load are designed [10][11][12][13][14]. Another one is cable-suspended loads which have been studied in recent years [15][16][17].…”