ATOM: A Tendon-Driven Aerial Manipulator Achieving High Stiffness, High Torque, and Low Coupling Disturbance
Yipeng Yang, Xinghu Yu, and Zhang Chen
AI summary
Problem
High-torque manipulators on aerial platforms cause severe coupling disturbance that destabilizes flight, while lightweight alternatives lack the stiffness needed for demanding tasks.
Approach
The authors designed a 4-DOF tendon-driven serial manipulator with all actuators centralized at the UAV base, using tension-amplification mechanisms and bone-inspired lattice optimization to minimize inertia and CPD while maintaining structural rigidity.
Key results
- Centralized base-mounted actuators and tendon-driven joints significantly reduce manipulator inertia and coupling disturbance.
- A novel adjustable pretension mechanism prevents cable relaxation during high-frequency flight vibrations.
- Bone-inspired topology and lattice optimization reduces link weight by ~40% while preserving high stiffness.
- Experimental validation confirms high stiffness, high torque, minimal CPD, and robust waterproof performance.
Why it matters
It provides a viable mechanical design pathway for deploying industrial-grade, high-performance manipulators on aerial platforms for demanding air-ground collaborative tasks.
Abstract
Aerial manipulator systems (AMSs) have signifi- cantly progressed in air-ground collaborative tasks. Deploying high-stiffness and high-torque manipulators in AMSs can en- hance operational robustness, enabling the execution of more demanding tasks such as high-altitude platforms operation, post- disaster rapid response and assisted rescue. However, this is challenging due to the significant coupling disturbance (CPD) induced by the substantial mass and inertia of high-torque joint actuators. To address this issue, we introduce the aerial tendon- driven manipulator (ATOM), which integrates a multirotor with a 4-DOF anthropomorphic tendon-driven serial manipulator. This design minimizes CPD while preserving high-stiffness and high-torque. Our approach begins with an analysis of the CPD model inherent in AMSs, guiding the development of our design concept. In detail, the joints incorporate a tension-amplification- tendon mechanism, significantly enhancing overall stiffness and torque. The links are optimized using finite element topology and lattice optimization techniques, mimicking the radially graded structure found in bone. This bio-inspired design effectively reduces weight and inertia while maximizing structural rigidity. To ensure consistent performance, we have also developed a novel pretension mechanism that allows for adjustable cable tension, preventing unwanted cable relaxation. Experimental validation demonstrates that the ATOM can achieve high-stiffness and high- torque with minimal CPD while exhibiting robust waterproof performance, showcasing its potential for advanced air-ground collaborative tasks.