Ultra Light-Weight Robotic Manipulator
DOI:
https://doi.org/10.22213/2413-1172-2018-1-12-18Keywords:
robotic manipulator, degree of freedom, aerial manipulation, UAV, hexacopter, nonlinearityAbstract
Aerial manipulation has received a big attention these days for many purposes without the existence of humans, such as surveillance, rescue services, exploration, and others, e.g., inspection and maintenance in industrial fields. This research is aimed at scientific studying of the aerial human like robotic arm, which is considered as the complicated engineering model because of a high degree of freedom. The suggested manipulator consists of twenty-three links and twenty-eight joints within three sections of the shoulder, arm, and hand. This paper focuses on identifying the forces and moments acting on the links and joints in addition to describing the motion in the space with regard to the aerial body's frame. This research begins with describing the architecture of each part of the robotic arm, then the trajectory motion and time-based pros kinematics are studied, and finally the equations of motion are derived that describe the motion based on the required torque dynamics.References
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Там же.
