EAPSI:Design of a Novel Balancing Mechanism to Improve Stable Flight of a Multirotor and Mounted Robotic Arm

EAPSI：一种新型平衡机构的设计，以提高多旋翼和安装式机械臂的稳定飞行

• 批准号: 1613149
• 负责人: Jameson Lee
• 金额: $ 0.54万
• 依托单位: Lee Jameson Y
• 依托单位国家: 美国
• 项目类别: Fellowship Award
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-06-01 至 2017-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1613149&HistoricalAwards=false
• 关键词: EAPSI; Design; Novel; Balancing; Mechanism

Communication and the accurate collection of data is critical to the success of first responders in their efforts to aid victims in the aftermath of both natural and man-made disasters. Often Unmanned Aerial Systems (UAS) are used to facilitate this information through aerial mapping of terrain, or by locating victims and potential hazards not immediately known to first responders in the field. Recently, multirotor UAS have been considered for use in manipulation and grasping tasks in the field. The inclusion of a robotic arm in the design greatly increases their utility in practice, and allows these machines to interact with their environments mid-flight. These interactions may be as simple as water sample collection or as complex as door opening, and while there are many advantages to the deployment of a UAS to perform these tasks, there are still many problems concerning stability in operation. The proposed work seeks to improve the effectiveness of these manipulation UAS through the design and analysis of a mechanism which would actively balance the platform while flying. Work concerning the design and implementation of the mechanism will be conducted at the Intelligent Robotics & Mechatronics System (IRMS) Laboratory of Sungkyunkwan University in Suwon, South Korea under the supervision of Professor Hyouk Ryeol Choi. The expertise of the IRMS Laboratory in manipulation platforms is an invaluable resource for the completion of this award, and this collaboration will lay the groundwork for future works between Sungkyunkwan University and the University of Nevada Las Vegas.Aerial manipulation using a multirotor UAS is challenging due to the limitations imposed on the platform?s stability by multirotor actuation modes. Indeed, a traditional multirotor is incapable of producing a couple to negate applied external torque. To maintain hover conditions during manipulation maneuvers, the design and implementation of a balancing mechanism will be explored to affect active stabilization of the platform. While the effects of the environment on the mounted manipulator?s end effector cannot be accounted for generally, the eccentricities introduced to the system?s center of gravity by the mass and moment of inertia of the manipulator can be reduced using the mechanism. It can be shown that this improves robustness of both static and dynamic flight, through analyses based on Lyapunov?s principles, simulation, and testing. This award under the East Asia and Pacific Summer Institutes program supports summer research by a U.S. graduate student and is jointly funded by NSF and the National Research Foundation of Korea.

在自然灾害和人为灾害发生后，沟通和准确收集数据对于第一反应者成功援助受害者至关重要。通常，无人机系统（UAS）通过空中地形测绘或定位现场急救人员无法立即知道的受害者和潜在危险来促进这些信息。近年来，多旋翼无人机已被考虑用于操纵和抓取任务。在设计中加入机械臂大大增加了它们在实践中的实用性，并允许这些机器在飞行过程中与环境进行交互。这些相互作用可能像水样收集一样简单，也可能像开门一样复杂，尽管部署无人机系统执行这些任务有很多优点，但在运行稳定性方面仍然存在许多问题。拟议的工作旨在通过设计和分析一种在飞行时主动平衡平台的机制来提高这些操纵无人机的有效性。该机制的设计和实施工作将在韩国水原成均馆大学智能机器人和机电一体化系统（IRMS）实验室进行，由Hyouk Ryeol Choi教授监督。IRMS实验室在操作平台方面的专业知识是完成该奖项的宝贵资源，此次合作将为成均馆大学和内华达大学拉斯维加斯分校之间的未来合作奠定基础。由于平台上的限制，使用多旋翼无人机进行空中操纵具有挑战性。多旋翼驱动模式下的S稳定性。事实上，传统的多转子无法产生一对夫妇来抵消施加的外部转矩。为了在操纵机动过程中保持悬停状态，将探索平衡机构的设计和实现，以影响平台的主动稳定。而环境对安装机械手的影响呢？S端执行器一般不能解释，引入系统的偏心？利用该机构可以减小机械手的质量和转动惯量对重心的影响。通过基于Lyapunov？S原理、仿真和测试。该奖项是由美国国家科学基金会（NSF）和韩国国立科学研究财团共同资助的东亚太平洋暑期研究所项目，旨在支持美国研究生的暑期研究。