Development of Add-On Planar Translational Driving System for Aerial Manipulation with Multirotor Platform

Abstract

We propose an add-on planar translational driving system (ATD) which can be equipped on a multirotor platform for aerial manipulation. The device is lightweight and consists of three ducted fans controlled via an on-board CPU. It uses a simple control method and enables a multirotor to perform positioning and generate force in two dimensions while keeping the airframe horizontal. By translating the multirotor without changing attitude, it can more smoothly and easily perform many types of aerial manipulation tasks with higher positioning accuracy. In this paper, we mainly show the design, modeling, and control of the ATD. Several preliminary experiments were performed to verify the positioning accuracy and effectiveness of the system. In addition, we successfully performed the push and pull task using a rigid arm.

Aerial Torsional Work Utilizing a Multirotor UAV with Add-on Thrust Vectoring Device

“…The system generates the required torque, by landing on valve, disarming the UAV's propellers, and utilizing the forces generated by the thrust vectoring device. With the previous research in [16] we showed the effectiveness of an add-on thruster system for UAVs, which generated horizontal forces independent from the multirotor UAV's propellers. However, due to the fixed configuration and orientation of the additional actuators, the use of this system was limited to translational movement.…”

“…In this study, our previous research in [16] has been enhanced with thrust vectoring capabilities. The original system allowed for a commercial UAV to move in a planar motion, i.e., without changing the pitch and roll of its frame.…”

“…Translational flight mode: This configuration follows the control framework expressed in our previous research [16]. The EDFs are positioned as follows:…”

Aerial Robotics for Inspection and Maintenance: Special Issue Editorial

“…In order to increase the capability of conventional multi-rotors to generate forces along the horizontal plane, required in many contact-based inspection operations, the authors in [3] describe an add-on mechanism for multi-rotors, consisting of three ducted fans arranged in a Y-shaped structure that can be easily integrated in different types of multirotors, in such a way that the horizontal thrust allows the decoupling of the translational control from the attitude control. The developed prototype demonstrates how a relatively simple concept design can extend the functionalities and control capabilities of aerial robots.…”