A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
نویسندگان
چکیده
The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This direct consequence the load-carrying capacity limitation robots. Ornithopters will improve existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer safe interaction in proximity to humans. technology also opens possibility perch some trees tasks such as obtaining samples from nature, enabling biologists collect remote places, or assisting people rescue by carrying medicines first-aid kits. paper presents very lightweight manipulator (79.7g) prototype be mounted on an ornithopter. distribution mass robot sensitive extra lumped far center-of-mass (CoM) deteriorates flight stability. A configuration was proposed avoid changing CoM. Flight experiments show that adding arm only moved CoM 6mm performance with has been satisfactory. Plucking leaf chosen application designed system several experimental tests confirmed successful sampling leaves prototype.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2022
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2022.3184110