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

通信和准确收集数据对于第一反应者在自然灾害和人为灾害后援助受害者的努力取得成功至关重要。无人机系统（UAS）通常用于通过空中地形测绘或通过定位现场第一响应者不立即知道的受害者和潜在危险来促进这一信息。最近，多旋翼无人机已被认为是用于在该领域的操作和抓取任务。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中与它们的环境进行交互。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，虽然部署UAS执行这些任务有许多优点，但仍存在许多有关操作稳定性的问题。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UAS的有效性。有关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州大学拉斯维加斯之间的未来工作奠定基础。由于平台上的限制，使用多旋翼UAS进行空中操作具有挑战性？的稳定性的多旋翼驱动模式。实际上，传统的多旋翼无法产生力偶来抵消所施加的外部扭矩。为了在操纵机动期间保持悬停条件，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？的末端执行器不能解释一般，偏心引入系统？利用该机构可以减小机械手的质量和转动惯量对机器人重心的影响。它可以表明，这提高了静态和动态飞行的鲁棒性，通过分析的基础上李雅普诺夫？的原理、仿真和测试。东亚和太平洋夏季研究所计划下的这个奖项支持美国研究生的夏季研究，由NSF和韩国国家研究基金会共同资助。

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.