An Avian-Inspired Passive Mechanism for Quadrotor Perching

Autor:	Raymond King, Courtney E. Doyle, Justin J. Bird, Daman Bareiss, David J. Dunlop, Jason C. Kallman, Jake J. Abbott, Mark A. Minor, Taylor A. Isom
Rok vydání:	2013
Předmět:	Engineering business.industry Underactuation GRASP Control engineering Computer Science Applications Mechanism (engineering) Control and Systems Engineering Grippers Leg mechanism Robot Active muscle Aerospace robotics Electrical and Electronic Engineering business
Zdroj:	IEEE/ASME Transactions on Mechatronics. 18:506-517
ISSN:	1941-014X 1083-4435
DOI:	10.1109/tmech.2012.2211081
Popis:	Flying robots capable of perch-and-stare are desirable for reconnaissance missions. Inspired by an adaptation that enables songbirds to sleep in trees without active muscle control, the research presented herein details the design for a passive mechanism that enables a rotorcraft to perch reminiscent of a bird perching on a tree branch. Perching is accomplished through the integration of a compliant, underactuated gripping foot and a collapsing leg mechanism that converts rotorcraft weight into tendon tension in order to passively actuate the foot. Analysis of mechanism behavior is presented, and stability tests were performed to characterize the ability of the system to reject disturbances. The results indicate that it is possible to passively perch a rotorcraft on multiple surfaces and support reasonable environmental disturbances. The analysis in this paper can enable passive perching design optimization in vertical take-off and landing systems.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::40c81e70aa605ef24924c083348ef410 https://doi.org/10.1109/tmech.2012.2211081 Zobrazit plný text záznamu