抗扰型机械臂让无人机抓物更准，尤其在强风下表现优异。
U-Joint CAAMS: Experimental Evaluation of a Universal-Joint Continuum Manipulator for Aerial Manipulation
- 用弹簧强化万向节和管状骨架提升抗弯扭能力
- 强风下姿态误差减少2.5至45倍，精度显著提升
- 适合需要精准操作的无人机任务，如采样与喷洒
安装在多旋翼无人机上的连续体机械臂可实现柔顺空中操作，但载荷和螺旋桨下洗气流会加剧侧向弯曲和扭转，降低末端执行器位姿精度。为解决此问题，本文提出一种基于万向节的连续体机械臂设计，通过管状主干、弹簧强化万向节及内部导管集成，增强抗侧向变形能力。我们在静止空气和峰值螺旋桨下洗条件下，对不同载荷进行了测试，并与先前的镍钛合金骨架机械臂对比。实验表明，该设计在所有工况下均表现出更强的抗侧向变形能力；在峰值下洗条件下，平均误差相比镍钛骨架设计降低2.5-4倍（偏航）、2-45倍（y轴）以及最多5倍（俯仰）。此外，通过飞行中耦合干扰测试分析了悬停稳定性，验证了系统在水样采集、定点喷洒和物体搬运中的实际应用能力。
原文摘要 · Abstract (English)
Continuum manipulators mounted on multi-rotor UAVs enable compliant aerial manipulation, but payloads and propeller downwash amplify out-of-plane bending and twisting that degrade end-effector pose accuracy. To address this problem, we present a universal-joint-based continuum manipulator designed to improve resistance to out-of-plane deformation during aerial manipulation. The proposed design uses a tubular backbone with spring-reinforced universal joints and an integrated conduit for internal routing and fluid delivery. We evaluate the design in still air and under peak propeller downwash across varying payloads, and benchmark it against a prior Nitinol-backbone CM. Bench tests show improved resistance to out-of-plane deformation across all conditions. Under peak downwash, the proposed design reduces mean error by 2.5-4x in yaw, 2-45x in y-axis, and up to 5x in roll compared to the NiTi-backbone design. We further analyze hover stability through in-flight coupled-disturbance tests over varying payloads and actuation speeds, and demonstrate the system in water sampling, spot spraying, and object transport.
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