CRI II-NEW: MM-SISTR - Infrastructure for Enabling Mobile-Manipulation Unmanned Aerial Vehicle (MM-UAV) Research and Design

CRI II-新：MM-SISTR - 支持移动操纵无人机 (MM-UAV) 研究和设计的基础设施

• 批准号: 1449559
• 负责人: Paul Oh
• 金额: $ 29.28万
• 依托单位: University of Nevada Las Vegas
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-07-01 至 2017-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1449559&HistoricalAwards=false
• 关键词: CRI; II; NEW; MM; SISTR

Unmanned aerial vehicles (UAVs) are often used for surveillance and reconnaissance missions. They typically fly high above the ground to avoid obstacles. As such, they execute such missions passively. This project adds dexterous arms to a UAV. This would yield paradigm-shifting missions; the arms could then be used for near-Earth environment tasks like infrastructure repair, agricultural crop handling and border inspection. The critical gap preventing the realization of such UAVs is the lack of data on reaction forces and torques. When the arms on such vehicles (dubbed Mobile Manipulating UAVs or MM-UAV) interact with objects like building edifices, trees and common objects on the ground, these reactions can upset vehicle stability. The new infrastructure built by this project fills this gap. Robotic arms/hands is retrofitted and on existing 6-DOF gantry that is configured to mimic the UAV?s lateral and longitudinal dynamics. The net effect is a hardware-in-the-loop system that enables capture and study of reaction forces and torques. Broader impacts resulting from such infrastructure include: data to analytically design MM-UAV to yield a new class of unmanned aircraft suitable for near-Earth missions; international collaborations that spinout results to industrial partners; hands-on lab components to complement robotics courses; and Girl Scouts outreach programs to inspire and motivate young girls to science and engineering. Dissemination includes the open sharing of data and publishing in the literature. The outcome of the project is a new class of UAV for field and service robotics with a wide range of missions.

无人机（UAV）通常用于监视和侦察任务。 它们通常飞得很高，以避免障碍物。 因此，他们被动地执行此类任务。 该项目为无人机增加了灵巧的手臂。 这将产生范式转变的使命；这些武器随后可用于近地环境任务，如基础设施修复、农作物处理和边境检查。 阻碍此类无人机实现的关键差距是缺乏反作用力和扭矩的数据。 当此类车辆（称为移动操纵无人机或 MM-UAV）上的手臂与建筑物、树木和地面上的常见物体等物体相互作用时，这些反应可能会破坏车辆的稳定性。 该项目建设的新基础设施填补了这一空白。 机械臂/手经过改装，安装在现有的 6 自由度龙门架上，配置为模仿无人机的横向和纵向动力学。 最终效果是硬件在环系统能够捕获和研究反作用力和扭矩。 此类基础设施产生的更广泛影响包括：用于分析设计MM-UAV的数据，以产生适合近地任务的新型无人机；国际合作，为工业合作伙伴带来成果；实践实验室组件以补充机器人课程；女童子军外展计划，以激励和激励年轻女孩学习科学和工程。 传播包括数据的公开共享和文献的出版。 该项目的成果是用于执行多种任务的现场和服务机器人的新型无人机。