Tethered Aerial Manipulator Systems

在检查和监视任务中，使用遥控和自主飞行器或“无人机”变得越来越普遍。然而，由于其低有效载荷能力和高功耗率，它们在这些任务之外的使用非常有限。典型的多旋翼系统一次只能在空中停留几分钟，而且不能携带很大的有效载荷，因为它们的大部分有效载荷都被电池的重量所占据。为了克服这些缺点，并将多旋翼机器人的能力扩展到检查和监视任务之外，提出了开发设计和控制系留航空机械臂系统所需的基础理论和技术。该研究计划将通过开发一种被称为空中机械臂系统（AMS）的系绳式空中机械臂系统原型来实现这一目标。全新的AMS概念涉及设计和开发一个系统，该系统具有前所未有的多功能性，可用于机器人操作部件和/或维修区域，这些部件和/或维修区域不易通过梯子、起重机或剪刀升降机等传统手段从地面进入。AMS类似于带有机械臂的水下遥控船（ROV），由一个空中支援船（ASV）组成，通过脐带电缆连接到一个自主飞行器（AAV）。从本质上讲，AMS是一种面向天空的ROV。为了验证AMS想法的可行性，该研究计划将包括设计，建造和测试AMS的概念验证原型。这项研究计划的最终结果将是更好地理解系绳式空中机械臂系统的力学和控制。使用系绳提供动力将消除飞行器的头号限制，即它们极短的飞行时间。演示AMS概念验证原型的安全控制能力将是未来全尺寸系留式空中操纵系统发展的一个关键里程碑。作为该研究计划的一部分，所开发的知识和技术将使更强大的空中操纵系统得以开发。系绳空中操纵系统将在高层建筑的建造和维护方面带来一场革命，取代将人类置于危险之中的需要。这种系统的一个关键好处是，它们将工人从极端危险的环境中移除，使他们能够在更安全的地方工作

The use of tele-operated and autonomous aerial vehicles or "drones" is becoming more and more common for inspection and surveillance tasks. However, their use beyond these tasks is extremely limited due to their low payload capabilities and high power consumption rates. Typical multi-rotor systems can only be aloft for minutes at a time and cannot carry a large payload since much of their payload is taken up with the weight of their batteries. To overcome these shortcomings and to extend the capabilities of multi-rotor robots beyond inspection and surveillance tasks, it is proposed to develop the underlying theories and technologies needed to design and control tethered aerial manipulator systems. This research program will achieve this goal through the development of a prototype tethered aerial manipulator system, dubbed the Aerial Manipulator System (AMS). The novel AMS concept involves the design and development of a system capable of unprecedented versatility for robotically manipulating parts and/or servicing areas that are not easily accessible from the ground by traditional means such as ladders, cranes, or scissor lifts. Similar to an undersea Remotely-Operated Vehicle (ROV) with a robotic arm attached, the AMS consists of an Aerial Support Vehicle (ASV) connected via an umbilical cable to an Autonomous Aerial Vehicle (AAV). In essence, the AMS is an ROV for the sky. To verify the feasibility of the AMS idea, this research program will consist of the design, construction, and testing of a proof-of-concept prototype of the AMS. ***The end result of this research program will be a better understanding of the mechanics and control of tethered aerial manipulator systems. The use of a tether to provide power will eliminate the number one limitation of aerial vehicles, namely their extremely short flight times. The ability to demonstrate the safe control of a proof-of-concept prototype of the AMS will represent a key milestone in the development of future full-scale tethered aerial manipulator systems. The knowledge and technologies developed as part of this research program will enable more robust aerial manipulator systems to be developed. Tethered aerial manipulator systems will allow for a revolution in the construction and maintenance of tall structures replacing the need to put humans in harm's way. A key benefit of such systems is that they remove workers from extremely hazardous environments, allowing them to work from much safer and secure locations.**