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ATDM:An Anthropomorphic Aerial Tendon-driven Manipulator with Low-Inertia and High-Stiffness

Quman Xu, Zhan Li, Hai Li, Xinghu Yu, Yipeng Yang

TL;DR

This work addresses the coupling disturbance and stiffness limitations of aerial manipulators by introducing the Aerial Tendon-Driven Manipulator (ATDM), which integrates a hexrotor UAV with a 4-DOF anthropomorphic tendon-driven arm. The design places actuators at the base and employs tension-amplification tendon (TAT) mechanisms along with topology and lattice optimization to achieve a moving mass of 0.818 kg and a total of 2.7 kg, while significantly increasing stiffness. A kinematic model with virtual coupled joints and comprehensive workspace analysis guides design, and semi-physical simulations validate reduced coupling disturbance and improved stability during aerial manipulation. The results demonstrate a lightweight, stiff, and responsive AMS capable of complex tasks in challenging environments, with future work focusing on environmental protections and broader applicability.

Abstract

Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement persist. This paper introduces the Aerial Tendon-Driven Manipulator (ATDM), an innovative AMS that integrates a hexrotor Unmanned Aerial Vehicle (UAV) with a 4-degree-of-freedom (4-DOF) anthropomorphic tendon-driven manipulator. The design of the manipulator is anatomically inspired, emulating the human arm anatomy from the shoulder joint downward. To enhance the structural integrity and performance, finite element topology optimization and lattice optimization are employed on the links to replicate the radially graded structure characteristic of bone, this approach effectively reduces weight and inertia while simultaneously maximizing stiffness. A novel tensioning mechanism with adjustable tension is introduced to address cable relaxation, and a Tension-amplification tendon mechanism is implemented to increase the manipulator's overall stiffness and output. The paper presents a kinematic model based on virtual coupled joints, a comprehensive workspace analysis, and detailed calculations of output torques and stiffness for individual arm joints. The prototype arm has a total weight of 2.7 kg, with the end effector contributing only 0.818 kg. By positioning all actuators at the base, coupling disturbance are minimized. The paper includes a detailed mechanical design and validates the system's performance through semi-physical multi-body dynamics simulations, confirming the efficacy of the proposed design.

ATDM:An Anthropomorphic Aerial Tendon-driven Manipulator with Low-Inertia and High-Stiffness

TL;DR

This work addresses the coupling disturbance and stiffness limitations of aerial manipulators by introducing the Aerial Tendon-Driven Manipulator (ATDM), which integrates a hexrotor UAV with a 4-DOF anthropomorphic tendon-driven arm. The design places actuators at the base and employs tension-amplification tendon (TAT) mechanisms along with topology and lattice optimization to achieve a moving mass of 0.818 kg and a total of 2.7 kg, while significantly increasing stiffness. A kinematic model with virtual coupled joints and comprehensive workspace analysis guides design, and semi-physical simulations validate reduced coupling disturbance and improved stability during aerial manipulation. The results demonstrate a lightweight, stiff, and responsive AMS capable of complex tasks in challenging environments, with future work focusing on environmental protections and broader applicability.

Abstract

Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement persist. This paper introduces the Aerial Tendon-Driven Manipulator (ATDM), an innovative AMS that integrates a hexrotor Unmanned Aerial Vehicle (UAV) with a 4-degree-of-freedom (4-DOF) anthropomorphic tendon-driven manipulator. The design of the manipulator is anatomically inspired, emulating the human arm anatomy from the shoulder joint downward. To enhance the structural integrity and performance, finite element topology optimization and lattice optimization are employed on the links to replicate the radially graded structure characteristic of bone, this approach effectively reduces weight and inertia while simultaneously maximizing stiffness. A novel tensioning mechanism with adjustable tension is introduced to address cable relaxation, and a Tension-amplification tendon mechanism is implemented to increase the manipulator's overall stiffness and output. The paper presents a kinematic model based on virtual coupled joints, a comprehensive workspace analysis, and detailed calculations of output torques and stiffness for individual arm joints. The prototype arm has a total weight of 2.7 kg, with the end effector contributing only 0.818 kg. By positioning all actuators at the base, coupling disturbance are minimized. The paper includes a detailed mechanical design and validates the system's performance through semi-physical multi-body dynamics simulations, confirming the efficacy of the proposed design.
Paper Structure (29 sections, 35 equations, 15 figures, 6 tables)

This paper contains 29 sections, 35 equations, 15 figures, 6 tables.

Table of Contents

  1. Introduction
  2. Modeling
  3. Dynamics
  4. Coupling Disturbance
  5. Design Objectives
  6. Mechanical Design of the Manipulator
  7. Tension amplification tendon mechanism
  8. Design of Anthropomorphic Elbow Joint
  9. Mechanical Design
  10. Kinematic Analysis of Elbow Joint
  11. Design of Anthropomorphic Wrist Joint
  12. Wrist Joint Design Analysis
  13. Wrist Joint Design
  14. Kinematic Analysis of the Wrist Joint
  15. Finite Element Analysis
  16. ...and 14 more sections

Figures (15)

  • Figure 1: The proposed aerial tendon-driven manipulator(ATDM)
  • Figure 2: The coordinate frame of AMS
  • Figure 3: Tension-amplification tendon
  • Figure 4: Elbow Joint Utilizing TAT.(a)Initial state.(b)Bending state
  • Figure 5: Elbow joint design detail and analysis. (a)Detail(initial state). (b)Detail(Bending state).(c)Schematic diagram(initial state).(d)Schematic diagram(Bending state)
  • ...and 10 more figures