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A Ducted Fan UAV for Safe Aerial Grabbing and Transfer of Multiple Loads Using Electromagnets

Zhong Yin, Hailong Pei

Abstract

In recent years, research on aerial grasping, manipulation, and transportation of objects has garnered significant attention. These tasks often require UAVs to operate safely close to environments or objects and to efficiently grasp payloads. However, current widely adopted flying platforms pose safety hazards: unprotected high-speed rotating propellers can cause harm to the surroundings. Additionally, the space for carrying payloads on the fuselage is limited, and the restricted position of the payload also hinders efficient grasping. To address these issues, this paper presents a coaxial ducted fan UAV which is equipped with electromagnets mounted externally on the fuselage, enabling safe grasping and transfer of multiple loads in midair without complex additional actuators. It also has the capability to achieve direct human-UAV cargo transfer in the air. The forces acting on the loads during magnetic attachment and their influencing factors were analyzed. An ADRC controller is utilized to counteract disturbances during grasping and achieve attitude control. Finally, flight tests are conducted to verify the UAV's ability to directly grasp multiple loads from human hands in flight while maintaining attitude tracking.

A Ducted Fan UAV for Safe Aerial Grabbing and Transfer of Multiple Loads Using Electromagnets

Abstract

In recent years, research on aerial grasping, manipulation, and transportation of objects has garnered significant attention. These tasks often require UAVs to operate safely close to environments or objects and to efficiently grasp payloads. However, current widely adopted flying platforms pose safety hazards: unprotected high-speed rotating propellers can cause harm to the surroundings. Additionally, the space for carrying payloads on the fuselage is limited, and the restricted position of the payload also hinders efficient grasping. To address these issues, this paper presents a coaxial ducted fan UAV which is equipped with electromagnets mounted externally on the fuselage, enabling safe grasping and transfer of multiple loads in midair without complex additional actuators. It also has the capability to achieve direct human-UAV cargo transfer in the air. The forces acting on the loads during magnetic attachment and their influencing factors were analyzed. An ADRC controller is utilized to counteract disturbances during grasping and achieve attitude control. Finally, flight tests are conducted to verify the UAV's ability to directly grasp multiple loads from human hands in flight while maintaining attitude tracking.
Paper Structure (23 sections, 25 equations, 13 figures)

This paper contains 23 sections, 25 equations, 13 figures.

Table of Contents

  1. Introduction
  2. Comparisons and System Design
  3. System Modeling
  4. Propeller force and torque
  5. Vane force and torque
  6. Total Forces and Torques
  7. Attitude dynamics
  8. Control allocation
  9. Load Attachment Analysis
  10. Conditions for stable attachment
  11. Influence of load
  12. Attitude Control
  13. Extended state space equation
  14. Linear full order extended state observer
  15. Controller design
  16. ...and 8 more sections

Figures (13)

  • Figure 1: The novel design of DFUAV called Ductopus. It's a coaxial ducted fan UAV with eight electromagnets(like an octopus with eight tentacles), which enables attaching and detaching multiple payloads safely in mid-air.
  • Figure 2: Illustrations of UAVs carrying loads and interacting with individuals. The dotted line indicates the airflow. (a)Multirotors: The position of the payload is inconvenient for loading and unloading, and the rotors may cause scratches.(b)DFUAV: Confined space for payloads and dangerous to reach. (c)The new design proposed in this paper facilitates the safe loading and unloading of multiple payloads.
  • Figure 3: (a)The structure and main components of the Ductopus. (b)The prototype used in this paper.
  • Figure 4: Combining electromagnets with specialized load modules facilitates various load attachments. (a) A plastic cup, filled with water as load, is mounted using 3D printed modules. (b) Magnetic attachment facilitates the attachment of loads.
  • Figure 5: Coordinate frames of the Ductopus and the sequence of servos.
  • ...and 8 more figures