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M. Bianconi
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1
This research proposes a novel, dynamically reconfigurable, and force-balanced aerial manipulator design for fast variable payload tasks. Its force-balancing minimizes aerial platform disturbances from the manipulator during fast end-effector movements. The manipulator is composed of three pantograph legs connecting the end-effector to the drone base, each equipped with two countermasses moved by bespoke fast linear actuators that ensure force-balancing of the manipulator for different payloads. Testing on a floating base setup and in flight showed a 45% reduction in reaction forces transferred to the base in the balanced vs. unbalanced configurations with no payload, and 17% with a 53 g payload. The position-tracking error in flight reduced with 19% and 34%, respectively.
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This research proposes a novel, dynamically reconfigurable, and force-balanced aerial manipulator design for fast variable payload tasks. Its force-balancing minimizes aerial platform disturbances from the manipulator during fast end-effector movements. The manipulator is composed of three pantograph legs connecting the end-effector to the drone base, each equipped with two countermasses moved by bespoke fast linear actuators that ensure force-balancing of the manipulator for different payloads. Testing on a floating base setup and in flight showed a 45% reduction in reaction forces transferred to the base in the balanced vs. unbalanced configurations with no payload, and 17% with a 53 g payload. The position-tracking error in flight reduced with 19% and 34%, respectively.
This research proposes a novel reconfigurable and force-balanced aerial manipulator design for fast variable payload tasks. Its force-balancing properties allow for fast end-effector movements while minimizing disturbances introduced to the aerial platform. The manipulator is composed of three pantograph legs connecting the end-effector to the drone base. Each pantograph is equipped with two moving counter-masses that provide the balancing properties to the manipulator. The counter masses are moved by fast linear actuators allowing the manipulator to be force-balanced for different payloads. Extensive testing, performing end-effector trajectory tracking tasks, was performed both on a floating base setup and in flight. The results indicate that the manipulator significantly decreased the reaction forces transmitted to the base. Specifically, it achieved a 45% reduction when comparing the unbalanced and balanced configurations, and a 17% reduction when these configurations included a 53 [g] payload. The drone's position-tracking error during flight also improved, with reductions of 19% and 34% for the same two configurations, respectively.
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This research proposes a novel reconfigurable and force-balanced aerial manipulator design for fast variable payload tasks. Its force-balancing properties allow for fast end-effector movements while minimizing disturbances introduced to the aerial platform. The manipulator is composed of three pantograph legs connecting the end-effector to the drone base. Each pantograph is equipped with two moving counter-masses that provide the balancing properties to the manipulator. The counter masses are moved by fast linear actuators allowing the manipulator to be force-balanced for different payloads. Extensive testing, performing end-effector trajectory tracking tasks, was performed both on a floating base setup and in flight. The results indicate that the manipulator significantly decreased the reaction forces transmitted to the base. Specifically, it achieved a 45% reduction when comparing the unbalanced and balanced configurations, and a 17% reduction when these configurations included a 53 [g] payload. The drone's position-tracking error during flight also improved, with reductions of 19% and 34% for the same two configurations, respectively.
Bachelor thesis
(2021)
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A.W. van Roon, M. Bianconi, F.J. Schimmel, Wu Qiu, M.J. Kalsbeek, R.A.A. Overwater, G.F. Feenstra, V.J.M.J. Lechner, R.C.W. Roelofs, Edward Neate, A. Anisimov, M.J. Ribeiro, M. Fathi Azarkhavarani, F. Corte Vargas
The Last Hope drone will autonomously find a clear path into the sky from the ground and ascend to an altitude of up to two thousand meters. Within 20 minutes it transmits a call for help with exact location information to rescue operators via the Iridium satellite network...
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The Last Hope drone will autonomously find a clear path into the sky from the ground and ascend to an altitude of up to two thousand meters. Within 20 minutes it transmits a call for help with exact location information to rescue operators via the Iridium satellite network...