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

Kartik Suryavanshi*, S. Hamaza, V. van der Wijk, J.L. Herder

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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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 languageEnglish
Title of host publicationProceedings IEEE International Conference on Robotics and Automation, ICRA 2023
PublisherIEEE
Pages11936-11942
ISBN (Print)979-8-3503-2365-8
DOIs
Publication statusPublished - 2023
EventICRA 2023: International Conference on Robotics and Automation - London, United Kingdom
Duration: 29 May 20232 Jun 2023

Conference

ConferenceICRA 2023: International Conference on Robotics and Automation
Country/TerritoryUnited Kingdom
CityLondon
Period29/05/232/06/23

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-care
Otherwise 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.

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