Dynamically Reconfigurable Force-Balanced Aerial Manipulator for Varying Payload Tasks

Abstract

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.