Flexbee无人机靠柔性喷口实现飞行、抓握与停驻一体化。
Flexbee: A Grasping and Perching UAV Based on Soft Vector-Propulsion Nozzle
- 用柔性矢量喷口整合飞行与抓握功能，实现姿态与位置解耦控制。
- 通过线性化模型解决力矩非线性耦合问题，提升控制精度。
- 适合需要多任务协同的复杂环境作业，如巡检与取样。
本文设计了一种新型抓握与停驻无人机Flexbee，其核心为柔性矢量推进喷口（SVPN）。相较于传统无人机，Flexbee将飞行、抓握与停驻功能集成于四个SVPN中，实现姿态与位置的解耦控制，具备高结构复用性及强适应性。建立了Flexbee的动力学模型，并通过等效力矩模型线性化解决了力矩非线性耦合问题。采用分层控制策略设计了两种工作模式下的控制器。最后，通过飞行、抓握与停驻实验验证了系统的运动能力及控制策略的有效性。
原文摘要 · Abstract (English)
The aim of this paper is to design a new type of grasping and perching unmanned aerial vehicle (UAV), called Flexbee, which features a soft vector-propulsion nozzle (SVPN). Compared to previous UAVs, Flexbee integrates flight, grasping, and perching functionalities into the four SVPNs. This integration offers advantages including decoupled position and attitude control, high structural reuse, and strong adaptability strong adaptability for grasping and perching. A dynamics model of Flexbee has been developed, and the nonlinear coupling issue of the moment has been resolved through linearization of the equivalent moment model. A hierarchical control strategy was used to design controllers for the two operational modes of Flexbee. Finally, flight, grasping, and perching experiments were conducted to validate Flexbee's kinematic capabilities and the effectiveness of the control strategy.
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