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Tilt-X: Enabling Compliant Aerial Manipulation through a Tiltable-Extensible Continuum Manipulator

Anuraj Uthayasooriyan, Krishna Manaswi Digumarti, Jack Breward, Fernando Vanegas, Julian Galvez-Serna, Felipe Gonzalez

Abstract

Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and compliant interaction opportunities. Existing designs allow manipulation only below the UAV which restricts their deployability in multiple directions and through clutter. They are also sensitive to propeller downwash. Addressing these limitations, we present Tilt-X, a continuum arm aerial manipulator that integrates a tilting mechanism, a telescopic stage, and a cable-driven continuum section. We present its design and kinematic model and validate it through flight demonstrations. Tilt-X enables a volumetric workspace with up to 75 mm extension and planar orientations between 0$^\circ$ to 90$^\circ$. Experiments comparing end effector pose with and without downwash quantitatively measure its accuracy, providing critical evidence to guide the design and control of reliable aerial manipulators. Results show stabilisation of end effector pose as the manipulator extends out of the propeller influence zone.

Tilt-X: Enabling Compliant Aerial Manipulation through a Tiltable-Extensible Continuum Manipulator

Abstract

Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and compliant interaction opportunities. Existing designs allow manipulation only below the UAV which restricts their deployability in multiple directions and through clutter. They are also sensitive to propeller downwash. Addressing these limitations, we present Tilt-X, a continuum arm aerial manipulator that integrates a tilting mechanism, a telescopic stage, and a cable-driven continuum section. We present its design and kinematic model and validate it through flight demonstrations. Tilt-X enables a volumetric workspace with up to 75 mm extension and planar orientations between 0 to 90. Experiments comparing end effector pose with and without downwash quantitatively measure its accuracy, providing critical evidence to guide the design and control of reliable aerial manipulators. Results show stabilisation of end effector pose as the manipulator extends out of the propeller influence zone.
Paper Structure (16 sections, 19 equations, 10 figures, 1 table)

This paper contains 16 sections, 19 equations, 10 figures, 1 table.

Table of Contents

  1. Introduction
  2. Design
  3. Overall manipulator design
  4. Continuum section
  5. Telescopic design
  6. Tilting mechanism
  7. Modeling
  8. Mapping configuration space to task space
  9. Mapping actuation space to configuration space:
  10. Workspace Enhancement
  11. Experiments
  12. Experiment Setup
  13. Flight test
  14. Results
  15. DISCUSSION
  16. ...and 1 more sections

Figures (10)

  • Figure 1: A demonstration of the capability of the Tilt-X system that is capable of bending (a,b), tilting and extending (c,d) airborne continuum manipulator. This dexterity makes our system suitable for inspection and deployment tasks.
  • Figure 2: The electrical (a) and mechanical (b) architecture of the Tilt-X system showing the various components. (c) an illustration of the tilt and telescoping mechanism that forms the basis of our design.
  • Figure 3: Forward kinematics map from the actuator-space ($q_1$-$q_5$: motor angles) to configuration-space (curvature $\kappa$, bending plane angle $\phi$, arc length $\ell$, tilt angle $\alpha$, linear extension $\beta$) to task-space pose of the end effector $\mathbf{T}_{HE}$.
  • Figure 4: (a) A schematic of the system showing the key coordinate frames - $\{W\}$: world,$\{U\}$: UAV,$\{H\}$: hinge on the UAV, $\{B\}$: base of the Tilt-X, $\{T\}$: tip of the telescopic mechanism, and $\{E\}$: tip of the continuum section. (b) The position of the cables 1-3 relative to the bending plane on the triangular base. (c) The routing of the cables through a pulley system at the hinge is on the bottom right.
  • Figure 5: Workspace of the Tilt-X system. (a) Isometric view colored by radial distance. (b) Front view (X–Z). (c) Top view (X–Y). (d) Side view (Y–Z).
  • ...and 5 more figures