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

K. 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

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 publicationIEEE International Conference on Robotics and Automation
Number of pages8
Publication statusAccepted/In press - 2022

Fingerprint

Dive into the research topics of 'ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications'. Together they form a unique fingerprint.

Cite this