期刊
出版社
IEEE
DOI: 10.1109/AIRPHARO52252.2021.9571044
关键词
Aerial Manipulator; Gripper; Helical Bird Flight Diverter
资金
- European Commission [H2020-2019-871479]
This paper presents the design of a lightweight gripper for the installation of bird diverters, which can be operated by an aerial manipulator. The gripper design includes a claw-type compliant mechanism and an anthropomorphic dual arm system, tested for installation using a teleoperation system.
The installation and removal of bird diverters from power lines is conducted nowadays by human operators working from manned helicopters or from the power line itself, which entails a certain risk and cost that can be reduced if an aerial manipulator performs these tasks. This paper presents the design of a lightweight gripper (70 g) which is specific for the installation of helical bird diverters. It consists of a claw-type compliant mechanism that is integrated in an anthropomorphic dual arm system, which is intended to perform the operation, and is attached to a multirotor through a long-reach pendulum configuration. The paper also covers the mechanical integration as well as the utilization of a teleoperation system to test the gripper for the installation at a test bench.
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