Tilt-X让无人机机械臂能多向伸展，抗风吹，操作更稳。
Tilt-X: Enabling Compliant Aerial Manipulation through a Tiltable-Extensible Continuum Manipulator
- 可倾斜伸缩的软体机械臂，突破传统只能向下作业限制。
- 伸出75毫米，工作角度达0°到90°，覆盖更大空间。
- 实测证明远离螺旋桨区域后末端位置更稳定，适合复杂环境。
无人机机械臂拓展了无人多旋翼飞行器在巡检、农业、采样和配送中的作业能力。连续体臂系统具有轻量化、灵活性和柔顺交互优势。现有设计仅支持无人机下方操作，限制了多方向部署及通过障碍物的能力，且易受螺旋桨下洗气流影响。为此，本文提出Tilt-X，一种集成倾角机构、伸缩结构与缆绳驱动连续体段的连续体臂无人机机械臂。本文给出其设计与运动学模型，并通过飞行实验验证。Tilt-X实现高达75 mm的伸展长度，平面工作角度范围为0°至90°。通过对比有无下洗气流时末端执行器位姿，定量评估其精度，提供了可靠空中机械臂设计与控制的关键依据。结果表明，当机械臂脱离螺旋桨影响区域后，末端姿态稳定性显著提升。
原文摘要 · Abstract (English)
Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and compliant interaction opportunities. Existing designs allow manipulation only below the UAV which restricts their deployability in multiple directions and through clutter. They are also sensitive to propeller downwash. Addressing these limitations, we present Tilt-X, a continuum arm aerial manipulator that integrates a tilting mechanism, a telescopic stage, and a cable-driven continuum section. We present its design and kinematic model and validate it through flight demonstrations. Tilt-X enables a volumetric workspace with up to 75 mm extension and planar orientations between 0$^\circ$ to 90$^\circ$. Experiments comparing end effector pose with and without downwash quantitatively measure its accuracy, providing critical evidence to guide the design and control of reliable aerial manipulators. Results show stabilisation of end effector pose as the manipulator extends out of the propeller influence zone.
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