Design of an Aerial Manipulator System Applied to Capture Missions

Wenyu Zhang; Qianyuan Liu; Meng Wang; Jindou Jia; Shangke Lyu; Kexin Guo; Xiang Yu; Lei Guo

doi:10.1109/ICUAS51884.2021.9476743

Design of an Aerial Manipulator System Applied to Capture Missions

Wenyu Zhang
, Qianyuan Liu
, Meng Wang
, Jindou Jia
, Shangke Lyu^*
, Kexin Guo^*
, Xiang Yu
, Lei Guo

^*Corresponding author for this work

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

This paper proposes the design of an aerial manipulator system for capture missions. A novel mechanical layout is designed. A 5-degree-of freedom manipulator and the battery are placed at the front and back part of a quadrotor unmanned aerial vehicle (UAV) respectively. This layout can expand the task space and minimize the shift of the center of mass. To improve the success rate of capture, inspired by the predation maneuver of birds, online trajectory generation law for capture mission is proposed. The aerial manipulator points towards its target during the flight. Experimental results show that the proposed aerial manipulator system can capture the target on a moving platform successfully.

Original language	English
Title of host publication	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1063-1069
Number of pages	7
ISBN (Electronic)	9780738131153
DOIs	https://doi.org/10.1109/ICUAS51884.2021.9476743
State	Published - 15 Jun 2021
Event	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 - Athens, Greece Duration: 15 Jun 2021 → 18 Jun 2021

Publication series

Name	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

Conference

Conference	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Country/Territory	Greece
City	Athens
Period	15/06/21 → 18/06/21

Access to Document

10.1109/ICUAS51884.2021.9476743

Cite this

Zhang, W., Liu, Q., Wang, M., Jia, J., Lyu, S., Guo, K., Yu, X., & Guo, L. (2021). Design of an Aerial Manipulator System Applied to Capture Missions. In 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 (pp. 1063-1069). Article 9476743 (2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS51884.2021.9476743

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title = "Design of an Aerial Manipulator System Applied to Capture Missions",

abstract = "This paper proposes the design of an aerial manipulator system for capture missions. A novel mechanical layout is designed. A 5-degree-of freedom manipulator and the battery are placed at the front and back part of a quadrotor unmanned aerial vehicle (UAV) respectively. This layout can expand the task space and minimize the shift of the center of mass. To improve the success rate of capture, inspired by the predation maneuver of birds, online trajectory generation law for capture mission is proposed. The aerial manipulator points towards its target during the flight. Experimental results show that the proposed aerial manipulator system can capture the target on a moving platform successfully.",

author = "Wenyu Zhang and Qianyuan Liu and Meng Wang and Jindou Jia and Shangke Lyu and Kexin Guo and Xiang Yu and Lei Guo",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 ; Conference date: 15-06-2021 Through 18-06-2021",

year = "2021",

month = jun,

day = "15",

doi = "10.1109/ICUAS51884.2021.9476743",

language = "英语",

series = "2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021",

address = "美国",

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Zhang, W, Liu, Q, Wang, M, Jia, J, Lyu, S, Guo, K , Yu, X & Guo, L 2021, Design of an Aerial Manipulator System Applied to Capture Missions. in 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021., 9476743, 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, Institute of Electrical and Electronics Engineers Inc., pp. 1063-1069, 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, Athens, Greece, 15/06/21. https://doi.org/10.1109/ICUAS51884.2021.9476743

Design of an Aerial Manipulator System Applied to Capture Missions. / Zhang, Wenyu; Liu, Qianyuan; Wang, Meng et al.
2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 1063-1069 9476743 (2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design of an Aerial Manipulator System Applied to Capture Missions

AU - Zhang, Wenyu

AU - Liu, Qianyuan

AU - Wang, Meng

AU - Jia, Jindou

AU - Lyu, Shangke

AU - Guo, Kexin

AU - Yu, Xiang

AU - Guo, Lei

PY - 2021/6/15

Y1 - 2021/6/15

N2 - This paper proposes the design of an aerial manipulator system for capture missions. A novel mechanical layout is designed. A 5-degree-of freedom manipulator and the battery are placed at the front and back part of a quadrotor unmanned aerial vehicle (UAV) respectively. This layout can expand the task space and minimize the shift of the center of mass. To improve the success rate of capture, inspired by the predation maneuver of birds, online trajectory generation law for capture mission is proposed. The aerial manipulator points towards its target during the flight. Experimental results show that the proposed aerial manipulator system can capture the target on a moving platform successfully.

AB - This paper proposes the design of an aerial manipulator system for capture missions. A novel mechanical layout is designed. A 5-degree-of freedom manipulator and the battery are placed at the front and back part of a quadrotor unmanned aerial vehicle (UAV) respectively. This layout can expand the task space and minimize the shift of the center of mass. To improve the success rate of capture, inspired by the predation maneuver of birds, online trajectory generation law for capture mission is proposed. The aerial manipulator points towards its target during the flight. Experimental results show that the proposed aerial manipulator system can capture the target on a moving platform successfully.

UR - https://www.scopus.com/pages/publications/85111460163

U2 - 10.1109/ICUAS51884.2021.9476743

DO - 10.1109/ICUAS51884.2021.9476743

M3 - 会议稿件

AN - SCOPUS:85111460163

T3 - 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

SP - 1063

EP - 1069

BT - 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

Y2 - 15 June 2021 through 18 June 2021

ER -

Zhang W, Liu Q, Wang M, Jia J, Lyu S, Guo K et al. Design of an Aerial Manipulator System Applied to Capture Missions. In 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 1063-1069. 9476743. (2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021). doi: 10.1109/ICUAS51884.2021.9476743

Design of an Aerial Manipulator System Applied to Capture Missions

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