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飞行机器人

University of Seville
物流
质量控制

配备机械臂的无人机

硬件价格: ¥50,876.30

设备类型

DIY

重量

轻质

教育项目

专业无人机和航拍无人机大家都不陌生。但是很少有人知道它们也用于工业。它们可以用来到达偏远的地方。如果无人机的工作不只是目视检查,那么我们就需要使用带操纵器的无人机。

塞维利亚大学的学生们开发了一种带机载操纵器的无人机,无人机上安装了机械臂。它能轻松、快速且低成本地到达远程工作区域或高海拔地方。因此,它非常适用于石油和天然气炼油厂、化工厂、风力涡轮机、太阳能发电厂或输电线路等场景中的检查和维护相关应用。机载操纵器的操作通常涉及无人机与环境之间的某种物理互动,比如当无人机执行抓取任务或施加接触力时。在这种情况下,对施加在空中平台上的交互扳手进行估计和控制是必要的,以防止控制系统的稳定性受损,从而降低无人机碰撞和坠毁的风险。柔性关节操纵器的设计和开发还旨在提高飞行中交互行为的安全性,利用弹簧的储能能力和被动特性来保护无人机免受冲击和过载。

与大多数在关节或末端执行器中集成了昂贵的力扭矩传感器的工业机械臂不同,用来建造轻型的机载操纵机械臂的伺服执行器通常无法直接测量扭矩,或者是基于电流进行的,因此由于减速箱的静摩擦,执行器的精度较低。这促使人们开发了通过测量弹性元件在关节层面或笛卡尔空间中的偏转来估计力和扭矩的方法。尽管无人机在飞行时进行物理交互的过程中,机械顺从性有明显的好处,但其主要缺点是,由于关节偏转导致定位精度降低,因此引入了与质量弹簧阻尼系统相关的二阶动力学。 本次竞赛中展示的机载操纵器由两个部分组成:DJI F550六轴飞行器和笛卡尔操纵器。该2轴笛卡尔操纵器由2个igus直线导轨系统NS-01-17-600(X轴)和NS-01-17-300(Y轴),以及3个NW-02-17滑块构成。2个直线导轨的顶部安装了2个直径22mm的同步带轮,用于将运动从Pololu微型金属齿轮电机(重10g,减速比250:1)传输到同步带,同时并排安装了2个Murata SV-01A电位计来测量旋转。请注意,该设备的电气测量范围为333°,因此需要第2个电位计来覆盖盲区。已知旋转角度和旋转次数,就可以计算笛卡尔底座的线性位移。该设备通过两个相隔10cm的U形铝制机架固定在6轴飞行器的底部,而顺应的关节臂则固定在Y轴直线导轨系统的滑块上。关节臂由Herkulex DRS-0101伺服电机、由JFM-08-06-04法兰轴承支撑的紧凑型弹簧杆传动机构、用于测量偏转的磁编码器AS5048(精度0.2°)、插入EFOM-06中的250mm长的铝制链节以及由两个ECLM-06 SLIM轴承和两个延伸弹簧支撑的滑动抓手组成。使用线性电位计测量抓手的线性偏转,该偏转与穿过的拉力有关。

1个组件

¥50,876.30

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