Tethered Aerial Manipulator Systems

在执行检查和监视任务时，使用遥控和自主的飞行器或“无人机”正变得越来越普遍。然而，除了这些任务外，它们的使用极其有限，因为它们的有效载荷能力低，耗电量高。典型的多旋翼系统一次只能在高空飞行几分钟，而且不能携带大量有效载荷，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，建议开发设计和控制系链航空机械手系统所需的基本理论和技术。这项研究计划将通过开发一个被称为空中机械手系统(AMS)的原型来实现这一目标。新的AMS概念涉及到设计和开发一种系统，该系统能够为机器人操作部件和/或服务区域提供前所未有的多功能性，这些区域通过梯子、起重机或剪刀式升降机等传统方式从地面不易到达。类似于连接了机械臂的水下遥控飞行器(ROV)，AMS由通过脐带电缆连接到自主飞行器(AAV)的空中支援飞行器(ASV)组成。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，这项研究计划将包括AMS的概念验证原型的设计、建造和测试。 这项研究计划的最终结果将是更好地了解系绳空中机械手系统的力学和控制。使用系绳提供动力将消除飞行器的头号限制，即飞行时间极短。AMS概念验证原型的安全控制能力将代表着未来全尺寸系泊空中机械手系统发展的一个关键里程碑。作为这项研究计划的一部分而开发的知识和技术将使更强大的空中机械手系统得以开发。绳系空中机械手系统将在建造和维护高层建筑方面带来一场革命，取代将人类置于危险境地的需要。这类系统的一个关键好处是，它们将工人从极其危险的环境中转移出来，使他们能够在更安全的地点工作。

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.