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Flexbee: A Grasping and Perching UAV Based on Soft Vector-Propulsion Nozzle

Yue Wang, Lixian Zhang, Yimin Zhu, Yangguang Liu, Xuwei Yang

TL;DR

Flexbee tackles the need for UAVs that can fly, grasp, and perch efficiently in cluttered environments. It combines four soft vector-propulsion nozzles (SVPNs) with a cable-driven mechanism, uses PCC-based SVPN kinematics and a moment-equivalence linearization to decouple translation and rotation, and employs a hierarchical control for fully actuated and under-actuated modes. The main contributions are the SVPN mechanical design, the integrated dynamics model with decoupled control, and a two-mode controller validated by flight, grasping, and perching experiments. The results demonstrate reliable 6-DOF tracking, robust mode switching, and versatile object grasping and perch on diverse surfaces, highlighting potential for energy-efficient multimodal UAV operations.

Abstract

The aim of this paper is to design a new type of grasping and perching unmanned aerial vehicle (UAV), called Flexbee, which features a soft vector-propulsion nozzle (SVPN). Compared to previous UAVs, Flexbee integrates flight, grasping, and perching functionalities into the four SVPNs. This integration offers advantages including decoupled position and attitude control, high structural reuse, and strong adaptability strong adaptability for grasping and perching. A dynamics model of Flexbee has been developed, and the nonlinear coupling issue of the moment has been resolved through linearization of the equivalent moment model. A hierarchical control strategy was used to design controllers for the two operational modes of Flexbee. Finally, flight, grasping, and perching experiments were conducted to validate Flexbee's kinematic capabilities and the effectiveness of the control strategy.

Flexbee: A Grasping and Perching UAV Based on Soft Vector-Propulsion Nozzle

TL;DR

Flexbee tackles the need for UAVs that can fly, grasp, and perch efficiently in cluttered environments. It combines four soft vector-propulsion nozzles (SVPNs) with a cable-driven mechanism, uses PCC-based SVPN kinematics and a moment-equivalence linearization to decouple translation and rotation, and employs a hierarchical control for fully actuated and under-actuated modes. The main contributions are the SVPN mechanical design, the integrated dynamics model with decoupled control, and a two-mode controller validated by flight, grasping, and perching experiments. The results demonstrate reliable 6-DOF tracking, robust mode switching, and versatile object grasping and perch on diverse surfaces, highlighting potential for energy-efficient multimodal UAV operations.

Abstract

The aim of this paper is to design a new type of grasping and perching unmanned aerial vehicle (UAV), called Flexbee, which features a soft vector-propulsion nozzle (SVPN). Compared to previous UAVs, Flexbee integrates flight, grasping, and perching functionalities into the four SVPNs. This integration offers advantages including decoupled position and attitude control, high structural reuse, and strong adaptability strong adaptability for grasping and perching. A dynamics model of Flexbee has been developed, and the nonlinear coupling issue of the moment has been resolved through linearization of the equivalent moment model. A hierarchical control strategy was used to design controllers for the two operational modes of Flexbee. Finally, flight, grasping, and perching experiments were conducted to validate Flexbee's kinematic capabilities and the effectiveness of the control strategy.
Paper Structure (13 sections, 17 equations, 12 figures)

This paper contains 13 sections, 17 equations, 12 figures.

Table of Contents

  1. Introduction
  2. Mechanical design
  3. Dynamics modeling
  4. Kinematic model of SVPN
  5. Dynamics Model of Flexbee
  6. Multimodal control
  7. Fully-actuated flight mode controller
  8. Under-actuated grasping/perching flight controller
  9. Experiments
  10. Fully-actuated Flight Experiment
  11. Under-actuated flight Experiment
  12. Grasping and Perching Experiment
  13. Conclusion

Figures (12)

  • Figure 1: Flexbee mechanical design and avionics
  • Figure 2: Mechanical design of SVPN, mechanical design of Flexbee,and force analysis of SVPN.
  • Figure 3: Flexbee switches from fully-actuated flight mode to grasping/perching flight mode
  • Figure 4: Kinematic Description of SVPN.
  • Figure 5: Definition of the Flexbee's coordinate system
  • ...and 7 more figures