Design of a class of generalized parallel mechanisms for adaptive landing and aerial manipulation. (April 2022)

• Record Type: Journal Article
• Authors: Liu, Jian; Zhang, Dan; Chen, Yanyu; Xia, Zhihao; Wu, Chenwei
• Is Part Of: Mechanism and machine theory. Volume 170(2022)
• Publication Date: 2022-04
• Subjects: Adaptive landing -- Aerial manipulation -- Lie group -- Generalized parallel mechanism -- Structure synthesis -- Landing performance; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2021.104692
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: The concept of adaptive landing and aerial manipulation mechanism is presented. The fundamental principles and procedure of the mechanism design are proposed. Several 3T, 3T1R and 3T2R DOF mechanisms are synthesized based on Lie group. Two general landing performance indexes are proposed for parametric optimization. The workspace range and landing slope of the mechanism are verified on a prototype. Abstract: In this paper, the concept of adaptive landing and aerial manipulation mechanism (ALAM) is proposed. The mechanism can be installed on a rotary-wing unmanned aerial vehicle (UAV), allowing the UAV to land on uneven terrain and perform aerial manipulation. Based on the Lie group, the design principles of the ALAM are proposed by combining the advantages of the generalized parallel mechanism. The design procedure of the mechanism is introduced. Then, the structure synthesis is performed for the ALAMs with 1 to 3 degrees of freedom (DOF) generalized moving platform. In order to evaluate the landing performance of the mechanism, two general indexes for evaluating landing adaptability and stability are established based on three typical structured terrains. Multi-objective parameter optimization of a 3T1R ALAM is carried out. Finally, a prototype is developed and validated for its workspace range and landing performance.