Imitation eagle grabbing system of air-operated multi-rotor aircraft

A multi-rotor aircraft, imitating eagle technology, applied in the direction of aircraft, rotorcraft, aircraft parts, etc., to overcome insufficient payload and dynamic coupling, and achieve the effect of output torque and speed

Active Publication Date: 2017-12-01
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Air operation of th

Method used

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  • Imitation eagle grabbing system of air-operated multi-rotor aircraft
  • Imitation eagle grabbing system of air-operated multi-rotor aircraft
  • Imitation eagle grabbing system of air-operated multi-rotor aircraft

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Embodiment Construction

[0035] Below in conjunction with accompanying drawing, the present invention will be further described:

[0036] The imitation eagle grasping system of multi-rotor aircraft operated in the air of the present invention comprises multi-rotor aircraft 1, bionic operating arm 2 and ground station, such as figure 1 shown.

[0037] The fuselage 101 of the multi-rotor aircraft 1 adopts an upper and lower two-layer frame structure composed of an upper fuselage board and a lower fuselage board. Four pipe sockets 102 are arranged to further stabilize the connection between the upper board of the fuselage and the lower board of the fuselage; at the same time, each pipe socket 102 is plugged with a horizontally arranged machine arm 103, so there are four machine arms 103 in total, and Arranged in a cross shape. Motor mounts 104 are installed on the outer ends of the four machine arms 103; motors and propellers are installed on the top of each motor mount 104, so that the motors are symm...

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Abstract

The invention discloses an imitation eagle grabbing system of an air-operated multi-rotor aircraft. Two two-degree-of-freedom bionic motion arms are mounted at the bottom of the multi-rotor aircraft, and each bionic motion arm has a hip joint, a knee joint, an ankle joint and a mechanical gripper for grabbing. The imitation eagle grabbing system carries on motion planning according to bionics, and therefore the rapidity, accuracy and sensibility of double arm grabbing of the multi-rotor aircraft are realized. From the point of view of the bionic motion planning, the imitation eagle grabbing system establishes a mapping relationship between eagles grabbing animals and air operation of the multi-rotor aircraft, realizes the dynamic grabbing task of the multi-rotor aircraft in high-speed motion, and shows the superiority of bionics applied to the related fields of robots. Meanwhile, by related means of bionics, the imitation eagle grabbing system establishes a structural model imitating eagle claws and has a guarantee for effective grabbing tasks.

Description

technical field [0001] The invention relates to an eagle-like grasping system and a grasping method for an air-operated multi-rotor aircraft. The grasping is realized by simulating a grasping mechanical device and planning a grasping motion by means of bionics. Background technique [0002] Multi-rotor aircraft is a cutting-edge research direction in the field of aircraft, and it is an advanced aircraft in the future. The operable multi-rotor makes the aircraft develop from the single function of observing the environment in the past to the ability to interact with the environment. It is the "next generation aircraft" and has potential in the fields of high-rise building detection, remote operation, and logistics. Application prospect. In the past ten years, the academic community has carried out a lot of research on the planning and control of multi-rotor aircraft, and achieved rich research results. At the same time, in the industry, with the maturity of aircraft navigat...

Claims

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Application Information

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IPC IPC(8): B64C27/08B64D47/00B64F5/00G05D1/10B25J9/00
CPCB25J9/00B64C27/08B64D47/00B64F5/00G05D1/10
Inventor 丁希仑郭品王学强俞玉树
Owner BEIHANG UNIV
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