Exploration of UAV Rope Handling and Flight in Narrow Space Strategies, using a Three-arm Aerial Manipulator System

摘要

Aerial robots are well suited for a variety of tasks. Especially in remote locations they can make use of their fast speed, independence of the ground condition and stable hovering capabilities. In uncontrolled environments, such as disaster sites, robots require flexibility to cope with a variety of challenging work environments. This work serves as the continuation of our research on a three-arm aerial manipulator system, developed in our lab. In this work, the manipulator system is used to show the realization of advanced aerial tasks. A method for rope fastening and removal tasks which can be completed by using the aerial robot, as well as a method for flying through narrow spaces using the robotic arms as tools to prevent accidental impact is proposed. Grippers suitable to conduct these tasks are developed and the concept of the proposed tasks is verified through several experiments.