Design of a High Performance Dual Arm Aerial Manipulator.

This paper presents the design of a dual arm aerial manipulation robot consisting of a customized hexarotor platform equipped with a lightweight dual arm manipulator. The proposed design is intended to integrate multiple devices required for building a complete aerial manipulation system, including vision and range sensors, on-board computers, communication devices, navigation systems, along with the manipulator. The developed platform will provide optimum performance in terms of flight time and payload taking into account the current technology available for building these kind of aircrafts. The design of the platform also considers vibration isolation, control and stability, and extended workspace for the manipulator. A lightweight (1.8 kg) and human-size dual arm manipulator has been integrated in the developed platform. Each arm provides 5 degrees of freedom (DOF) for end effector positioning and orientation. The arms are built using smart servo actuators and a frame structure manufactured in anodized aluminum. The design is validated through rigidity and modal analysis using finite element methods (FEM). The developed platform has been tested in outdoor flights, evaluating the influence of arms motion over the stability of the platform.