dc.creator | Suárez, Alejandro | es |
dc.creator | Heredia Benot, Guillermo | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2019-07-01T14:58:33Z | |
dc.date.available | 2019-07-01T14:58:33Z | |
dc.date.issued | 2018-05 | |
dc.identifier.citation | Suárez, A., Heredia Benot, G. y Ollero Baturone, A. (2018). Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation. IEEE Access, 6, 29173-29189. | |
dc.identifier.issn | 2169-3536 | es |
dc.identifier.uri | https://hdl.handle.net/11441/87747 | |
dc.description.abstract | This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch. The dual arm, weighting 1.3 kg in total, employs smart servo actuators and a customized and carefully designed aluminum frame structure manufactured by laser cut. The proposed
design reduces the manufacturing cost as no computer numerical control machined part is used. Mechanical joint compliance is provided in all the joints, introducing a compact spring-lever transmission mechanism between the servo shaft and the links, integrating a potentiometer for measuring the deflection of the joints.
The servo actuators are partially or fully isolated against impacts and overloads thanks to the ange bearings attached to the frame structure that support the rotation of the links and the deflection of the joints. This simple mechanism increases the robustness of the arms and safety in the physical interactions between the aerial
robot and the environment. The developed manipulator has been validated through different experiments in fixed base test-bench and in outdoor flight tests. | es |
dc.description.sponsorship | Unión Europea H2020-ICT-2014- 644271 | es |
dc.description.sponsorship | Ministerio de Economía y Competitividad DPI2015-71524-R | es |
dc.description.sponsorship | Ministerio de Economía y Competitividad DPI2017-89790-R | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | es |
dc.relation.ispartof | IEEE Access, 6, 29173-29189. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Aerial manipulation | es |
dc.subject | Aerial robots | es |
dc.subject | Design of floating-base manipulators | es |
dc.subject | Compliance | es |
dc.title | Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation | es |
dc.type | info:eu-repo/semantics/article | es |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | H2020-ICT-2014- 644271 | es |
dc.relation.projectID | DPI2015-71524-R | es |
dc.relation.projectID | DPI2017-89790-R | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8354886 | es |
dc.identifier.doi | 10.1109/ACCESS.2018.2833160 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Vision y Control | es |
idus.format.extent | 17 p. | es |
dc.journaltitle | IEEE Access | es |
dc.publication.volumen | 6 | es |
dc.publication.initialPage | 29173 | es |
dc.publication.endPage | 29189 | es |
dc.contributor.funder | European Union (UE) | |
dc.contributor.funder | Ministerio de Economía y Competitividad (MINECO). España | |