Tethered Aerial Manipulator Systems

系留空中机械手系统

• 批准号: RGPIN-2016-04569
• 负责人: Nokleby, Scott
• 金额: $ 1.89万
• 依托单位: University of Ontario Institute of Technology
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=681700
• 关键词: Tethered; Aerial; Manipulator; Systems

The use of tele-operated and autonomous aerial vehicles or "drones" is becoming more and more common for inspection and surveillance tasks. However, their use beyond these tasks is extremely limited due to their low payload capabilities and high power consumption rates. Typical multi-rotor systems can only be aloft for minutes at a time and cannot carry a large payload since much of their payload is taken up with the weight of their batteries. To overcome these shortcomings and to extend the capabilities of multi-rotor robots beyond inspection and surveillance tasks, it is proposed to develop the underlying theories and technologies needed to design and control tethered aerial manipulator systems. This research program will achieve this goal through the development of a prototype tethered aerial manipulator system, dubbed the Aerial Manipulator System (AMS). The novel AMS concept involves the design and development of a system capable of unprecedented versatility for robotically manipulating parts and/or servicing areas that are not easily accessible from the ground by traditional means such as ladders, cranes, or scissor lifts. Similar to an undersea Remotely-Operated Vehicle (ROV) with a robotic arm attached, the AMS consists of an Aerial Support Vehicle (ASV) connected via an umbilical cable to an Autonomous Aerial Vehicle (AAV). In essence, the AMS is an ROV for the sky. To verify the feasibility of the AMS idea, this research program will consist of the design, construction, and testing of a proof-of-concept prototype of the AMS. ***The end result of this research program will be a better understanding of the mechanics and control of tethered aerial manipulator systems. The use of a tether to provide power will eliminate the number one limitation of aerial vehicles, namely their extremely short flight times. The ability to demonstrate the safe control of a proof-of-concept prototype of the AMS will represent a key milestone in the development of future full-scale tethered aerial manipulator systems. The knowledge and technologies developed as part of this research program will enable more robust aerial manipulator systems to be developed. Tethered aerial manipulator systems will allow for a revolution in the construction and maintenance of tall structures replacing the need to put humans in harm's way. A key benefit of such systems is that they remove workers from extremely hazardous environments, allowing them to work from much safer and secure locations.**

远程操作和自主飞行器或“无人机”的使用在检查和监视任务中变得越来越普遍。然而，由于其低有效载荷能力和高功耗率，它们在这些任务之外的用途极其有限。 典型的多旋翼系统一次只能在空中飞行几分钟，并且无法承载较大的有效载荷，因为其大部分有效载荷都由电池的重量占据。 为了克服这些缺点并将多旋翼机器人的能力扩展到检查和监视任务之外，建议开发设计和控制系留空中机械手系统所需的基础理论和技术。 该研究计划将通过开发原型系留空中机械手系统（称为空中机械手系统（AMS））来实现这一目标。 新颖的 AMS 概念涉及设计和开发一个系统，该系统具有前所未有的多功能性，用于机器人操纵零件和/或维修区域，而这些零件和/或维修区域无法通过梯子、起重机或剪式升降机等传统方式从地面轻松进入。 与附有机械臂的海底遥控潜水器 (ROV) 类似，AMS 由通过脐带电缆连接到自主飞行器 (AAV) 的空中支援飞行器 (ASV) 组成。 本质上，AMS 是一种天空 ROV。 为了验证 AMS 想法的可行性，该研究计划将包括 AMS 概念验证原型的设计、构建和测试。 ***该研究计划的最终结果将是更好地了解系留空中机械手系统的力学和控制。 使用系绳提供动力将消除飞行器的第一个限制，即飞行时间极短。 展示 AMS 概念验证原型的安全控制能力将成为未来全尺寸系留空中机械手系统开发的一个重要里程碑。 作为该研究计划的一部分开发的知识和技术将有助于开发更强大的空中机械手系统。 系留空中机械手系统将给高层建筑的建造和维护带来一场革命，从而取代将人类置于危险之中的需要。此类系统的一个主要优点是它们可以将工人从极其危险的环境中转移出来，使他们能够在更安全的地方工作。**