ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications

Master thesis (2022)

Authors

Kartik Suryavanshi Mechanical Engineering

Contributors

V. van der Wijk Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering (supervisor 1)
S. Hamaza (supervisor 1)
J.L. Herder Precision and Microsystems Engineering (coach)
Faculty
Mechanical Engineering
Copyright: © 2022 KARTIK SURYAVANSHI
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Published Date

29-09-2022

Language

English

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Faculty

Mechanical Engineering

Abstract

In this work, we present the ADAPT, a novel reconfigurable force-balanced parallel manipulator with pantograph legs for spatial motions applied underneath a drone. The reconfigurable aspect allows different motion-based 3-DoF operation modes like translational, rotational, mixed, planar without disassembly. For the purpose of this study, the manipulator is used in translation mode only. A kinematic model is developed and validated for the manipulator. The design and motion capabilities are also validated both by conducting dynamics simulations of a simplified model on MSC ADAMS, and experiments on the physical setup.
The force-balanced nature of this novel design decouples the motion of the manipulator’s end-effector from the base, zeroing the reaction forces, making this design ideally suited for aerial manipulation in unmanned aerial vehicles (UAVs) applications, or generic floating-base applications.