Omni-Drone: On the Design of a Novel Aerial Manipulator with Omni-directional Workspace

Salua Hamaza, Mirko Kovac

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

1 Citation (Scopus)

Abstract

Aerial manipulation is a nascent research area that offers major impact for infrastructure monitoring and repair. While several design and control methods have been presented, there is still a need for new mechatronic solutions that are structurally optimised for aerial manipulation tasks. In this paper we present a novel design for a manipulator tailored for aerial applications with a high level of morphological integration with the robot frame. A hybrid system is presented that comprises a 5-bar linkage parallel robot with an additional active joint for the swirling motion about a pivotal point. The design offers an omnidirectional workspace about the aerial vehicle, enhancing the versatility of the aerial system and the tasks that can be accomplished. The mechanical design of the proposed robot, the analysis of the kinematics and the study of the workspace are presented. The novel manipulator represents the first of its kind, enabling aerial interaction with ceilings, curved surfaces and side interaction with facades.

Original languageEnglish
Title of host publication2020 17th International Conference on Ubiquitous Robots, UR 2020
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages153-158
Number of pages6
ISBN (Electronic)9781728157153
DOIs
Publication statusPublished - 2020
Externally publishedYes
Event17th International Conference on Ubiquitous Robots, UR 2020 - Kyoto, Japan
Duration: 22 Jun 202026 Jun 2020

Publication series

Name2020 17th International Conference on Ubiquitous Robots, UR 2020

Conference

Conference17th International Conference on Ubiquitous Robots, UR 2020
CountryJapan
CityKyoto
Period22/06/2026/06/20

Fingerprint

Dive into the research topics of 'Omni-Drone: On the Design of a Novel Aerial Manipulator with Omni-directional Workspace'. Together they form a unique fingerprint.

Cite this