Soliro -- a hybrid dynamic tilt-wing aerial manipulator with minimal actuators
CoRR(2023)
摘要
The ability to enter in contact with and manipulate physical objects with a
flying robot enables many novel applications, such as contact inspection,
painting, drilling, and sample collection. Generally, these aerial robots need
more degrees of freedom than a standard quadrotor. While there is active
research of over-actuated, omnidirectional MAVs and aerial manipulators as well
as VTOL and hybrid platforms, the two concepts have not been combined. We
address the problem of conceptualization, characterization, control, and
testing of a 5DOF rotary-/fixed-wing hybrid, tilt-rotor, split tilt-wing,
nearly omnidirectional aerial robot. We present an elegant solution with a
minimal set of actuators and that does not need any classical control surfaces
or flaps. The concept is validated in a wind tunnel study and in multiple
flights with forward and backward transitions. Fixed-wing flight speeds up to
10 m/s were reached, with a power reduction of 30% as compared to rotary wing
flight.
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