Abstract
In this paper, we present the ADAPT, a novel reconfigurable force-balanced parallel manipulator for spatial motions and interaction capabilities underneath a drone. The reconfigurable aspect allows different motion-based 3-DoF operation modes like translational, rotational, planar, and so on, without the need for 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 applications, or generic floating-base applications.
| Original language | English |
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| Title of host publication | Proceedings IEEE International Conference on Robotics and Automation, ICRA 2023 |
| Publisher | IEEE |
| Pages | 11936-11942 |
| ISBN (Print) | 979-8-3503-2365-8 |
| DOIs | |
| Publication status | Published - 2023 |
| Event | ICRA 2023: International Conference on Robotics and Automation - London, United Kingdom Duration: 29 May 2023 → 2 Jun 2023 |
Conference
| Conference | ICRA 2023: International Conference on Robotics and Automation |
|---|---|
| Country/Territory | United Kingdom |
| City | London |
| Period | 29/05/23 → 2/06/23 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.