A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application
The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perf...
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9798824/ |
| _version_ | 1811239174650462208 |
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| author | Saeed Rafee Nekoo Daniel Feliu-Talegon Jose Angel Acosta Anibal Ollero |
| author_facet | Saeed Rafee Nekoo Daniel Feliu-Talegon Jose Angel Acosta Anibal Ollero |
| author_sort | Saeed Rafee Nekoo |
| collection | DOAJ |
| description | The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer a safe interaction in proximity to humans. This technology also opens the possibility to perch in some trees and perform tasks such as obtaining samples from nature, enabling biologists to collect samples in remote places, or assisting people in rescue missions by carrying medicines or first-aid kits. This paper presents a very lightweight manipulator (79.7g) prototype to be mounted on an ornithopter. The distribution of the mass on the flapping-wing robot is sensitive and an extra lumped mass far from the center-of-mass (CoM) of the robot deteriorates the flight stability. A configuration was proposed to avoid changing the CoM. Flight experiments show that adding the arm to the robot only moved the CoM 6mm and the performance of the flight with the manipulator has been satisfactory. Plucking leaf is chosen as an application to the designed system and several experimental tests confirmed successful sampling of leaves by the prototype. |
| first_indexed | 2024-04-12T12:55:13Z |
| format | Article |
| id | doaj.art-ce27650bd68d450b8f084446677f56a1 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-12T12:55:13Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-ce27650bd68d450b8f084446677f56a12022-12-22T03:32:21ZengIEEEIEEE Access2169-35362022-01-0110653006530810.1109/ACCESS.2022.31841109798824A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf ApplicationSaeed Rafee Nekoo0https://orcid.org/0000-0003-1396-5082Daniel Feliu-Talegon1https://orcid.org/0000-0003-1206-0644Jose Angel Acosta2https://orcid.org/0000-0003-0040-338XAnibal Ollero3https://orcid.org/0000-0003-2155-2472Departamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, GRVC Robotics Laboratory, Universidad de Sevilla, Seville, SpainDepartamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, GRVC Robotics Laboratory, Universidad de Sevilla, Seville, SpainDepartamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, GRVC Robotics Laboratory, Universidad de Sevilla, Seville, SpainDepartamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, GRVC Robotics Laboratory, Universidad de Sevilla, Seville, SpainThe manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer a safe interaction in proximity to humans. This technology also opens the possibility to perch in some trees and perform tasks such as obtaining samples from nature, enabling biologists to collect samples in remote places, or assisting people in rescue missions by carrying medicines or first-aid kits. This paper presents a very lightweight manipulator (79.7g) prototype to be mounted on an ornithopter. The distribution of the mass on the flapping-wing robot is sensitive and an extra lumped mass far from the center-of-mass (CoM) of the robot deteriorates the flight stability. A configuration was proposed to avoid changing the CoM. Flight experiments show that adding the arm to the robot only moved the CoM 6mm and the performance of the flight with the manipulator has been satisfactory. Plucking leaf is chosen as an application to the designed system and several experimental tests confirmed successful sampling of leaves by the prototype.https://ieeexplore.ieee.org/document/9798824/Flapping-wing robotlightweight manipulatoraerial manipulationaerial robotleaf plucking |
| spellingShingle | Saeed Rafee Nekoo Daniel Feliu-Talegon Jose Angel Acosta Anibal Ollero A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application IEEE Access Flapping-wing robot lightweight manipulator aerial manipulation aerial robot leaf plucking |
| title | A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application |
| title_full | A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application |
| title_fullStr | A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application |
| title_full_unstemmed | A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application |
| title_short | A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application |
| title_sort | 79 7g manipulator prototype for e flap robot a plucking leaf application |
| topic | Flapping-wing robot lightweight manipulator aerial manipulation aerial robot leaf plucking |
| url | https://ieeexplore.ieee.org/document/9798824/ |
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