Journal
IEEE ACCESS
Volume 6, Issue -, Pages 29173-29189Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2018.2833160
Keywords
Aerial manipulation; aerial robots; design of floating-base manipulations; compliance
Categories
Funding
- European Commission H2020 project AEROARMS [H2020-ICT-2014-644271]
- Spanish MINECO Retos project AEROCROS [DPI2015-71524-R]
- Spanish MINECO Retos project ARM-EXTEND [DPI2017-89790-R]
- Spanish Ministerio de Educacion, Cultura y Deporte through its FPU program
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This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch. The dual arm, weighting 1.3 kg in total, employs smart servo actuators and a customized and carefully designed aluminum frame structure manufactured by laser cut. The proposed design reduces the manufacturing cost as no computer numerical control machined part is used. Mechanical joint compliance is provided in all the joints, introducing a compact spring-lever transmission mechanism between the servo shaft and the links, integrating a potentiometer for measuring the deflection of the joints. The servo actuators are partially or fully isolated against impacts and overloads thanks to the flange bearings attached to the frame structure that support the rotation of the links and the deflection of the joints. This simple mechanism increases the robustness of the arms and safety in the physical interactions between the aerial robot and the environment. The developed manipulator has been validated through different experiments in fixed base test-bench and in outdoor flight tests.
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