Zhang, Wenyu (Beihang University), Liu, Qianyuan (Beihang University), Wang, Meng (Beihang University), Jia, Jindou (Beihang University), Lyu, Shangke (Beihang University), Guo, Kexin (Beihang University), Yu, Xiang (Beihang University), Guo, Lei (Beihang University)

Design of an Aerial Manipulator System Applied to Capture Missions

Scheduled for presentation during the Regular Session "UAS Applications IV" (FrA4), Friday, June 18, 2021, 09:40−10:00, Naoussa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This paper proposes the design of an aerial manipulator system for capture missions. A novel mechanical layout is designed. A 5-degree-of freedom manipulator and the battery are placed at the front and back part of a quadrotor unmanned aerial vehicle (UAV) respectively. This layout can expand the task space and minimize the shift of the center of mass. To improve the success rate of capture, inspired by the predation maneuver of birds, online trajectory generation law for capture mission is proposed. The aerial manipulator points towards its target during the flight. Experimental results show that the proposed aerial manipulator system can capture the target on a moving platform successfully.