Cartesian Aerial Manipulator with Compliant Arm

This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with 2-DOF (degree freedom) Cartesian base (XY–axes) that supports 1-DOF compliant joint arm integrates gripper and elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy end effector respect to robotic arms revolute joints, where each coordinate position depends on all angles. reduces inertia manipulator energy consumption since it does not need lift its own weight. Consequently, required torque is lower and, thus, weight actuators. angular deflection sensors allow estimation, monitoring control interaction wrenches exerted in two axes (XZ) at effector. dynamic models are derived compared revolute-joint arm, proposing force-position scheme for robot. A battery counterweight mechanism also incorporated X–axis guide partially compensate motion manipulator. Experimental results indoors outdoors show performance robot, including object grasping retrieval, contact control, grabbing situations.