Hovering of MAV by using magnetic adhesion and winch mechanisms
Hovering of MAV by using magnetic adhesion and winch mechanisms
复制标题
利用磁力吸附和绞盘机构使 MAV 悬停
DOI：
10.1109/icra.2014.6907781
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
S. Tadokoro
中科院分区：
文献类型：
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作者：
K. Yanagimura;K. Ohno;Yoshito Okada;E. Takeuchi;S. Tadokoro
提出了一种使微型飞行器（MAV）在无推进力的情况下实现悬停的方法。在本文中，我们描述了一个磁吸附机构和绞盘机构的微型飞行器，是用来执行建筑物内的搜索行动的设计。配备这些机构的MAV可以附着在铁天花板上，并从适当的位置进行长时间搜索。我们设计了一种磁性附着机构，附着力超过20 N。磁性附着机构包括磁铁、双螺旋弹簧和开关机构。利用微型飞行器模型和粘附机理，确定了粘附机理的参数。磁粘附机构可以通过小于磁粘附力的力容易地分离。绞盘机构包括用于取回粘附机构的结构、坚固的轻质系绳和产生足够的扭矩以通过系绳提升MAV的伺服马达。我们证实，MAV可以悬停无推进动力，通过使用这些机制。
We propose a method by which a micro air vehicle (MAV) can hover without propulsion power. In this paper, we describe the design of a magnetic adhesion mechanism and a winch mechanism for an MAV that is used to perform search operations inside buildings. An MAV equipped with these mechanisms can adhere to an iron ceiling and search for a long time from an appropriate position. We designed a magnetic adhesion mechanism with an adhesion force of over 20 N. The magnetic adhesion mechanism comprises a magnet, dual coil springs, and a switching mechanism. Using models of MAV and the adhesion mechanism, we determined the parameters of the mechanism. The magnetic adhesion mechanism can be detached easily by a force less than the magnetic adhesion force. The winch mechanism comprises a structure to retrieve the adhesion mechanism, a strong, lightweight tether and a servo-motor that produces enough torque to lift the MAV by the tether. We confirmed that the MAV can hover without propulsion power by using these mechanisms.