Artículo
SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment
Autor/es | Ruiz Vincueria, Fernando
Arrue Ullés, Begoña C. Ollero Baturone, Aníbal |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2022-10 |
Fecha de depósito | 2022-10-25 |
Publicado en |
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Resumen | This letter presents the first design of a soft and
lightweight UAV, entirely 3D-printed in flexible filament. The
drone’s flexible arms are equipped with a tendon-actuated bend ing system, which is used for applications ... This letter presents the first design of a soft and lightweight UAV, entirely 3D-printed in flexible filament. The drone’s flexible arms are equipped with a tendon-actuated bend ing system, which is used for applications that require physical interaction with the environment. The flexibility of the UAV can be controlled during the additive manufacturing process by adjusting the infill rateρTPU distribution. However, the increase in flexibility implies difficulties in controlling the UAV, as well as structural, aerodynamic, and aeroelastic effects. This article provides insight into the dynamics of the system and validates the flyability of the vehicle for densities as low as 6%. Within this range, quasi-static arm deformations can be considered, thus the autopilot is fed back through a static arm deflection model. At lower densities, strong non-linear elastic dynamics appear, which translates to complex modeling, and it is suggested to switch to data-based approaches. Moreover, this work demonstrates the ability of the soft UAV to perform full-body perching, specifically landing and stabilizing on pipelines and irregular surfaces without the need for an auxiliary system |
Cita | Ruiz Vincueria, F., Arrue Ullés, B.C. y Ollero Baturone, A. (2022). SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment. IEEE Robotics and Automation Letters, 7 (4), 11086-11093. https://doi.org/10.1109/LRA.2022.3196768. |
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