轻量化柔性机械臂让小型无人机安全完成空中物理交互
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction
- 采用闭环结构与腱驱动，双电机远程控制实现柔顺运动
- 400克重的臂体在碰撞中可主动调节阻尼，保护电机不损
- 适合需要安全接触的无人机应用场景，如救援或巡检
本文提出一种新型柔性机械臂，结合轻量化与能量耗散特性，用于空中物理交互。起飞重量约400克，通过前向机身驱动实现精确位置控制，适用于力交互和多种空中操作任务。该机械臂为闭式运动链结构，使用两个远置伺服电机，每个关节仅用一根腱进行主动控制，在末端执行器压缩时实现动作调节。其弹性机械设计减轻重量并提供灵活性，可在不损伤电机的前提下实现被动柔顺交互。特别地，基于内部摩擦凸起的设计可调节臂体阻尼。实验验证了系统在自由飞行和物理交互中的性能表现。该研究为面临扰动交互的小型飞行器（MAV）在真实环境中的安全应用提供了新可能。
原文摘要 · Abstract (English)
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for \ac{MAV} in real environments subject to perturbations during interaction.
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