Mooring flight mechanical arm based on mooring rope tension control and mooring rope tension control method

Abstract

The invention discloses a mooring flight mechanical arm based on mooring rope tension control, which comprises an aircraft, a ground station, a mechanical arm, a rope driving device and a mooring control device, the mechanical arm and the mooring control device are respectively arranged on two sides of the center of the bottom of the aircraft, and the mooring control device comprises a mooring rope and a ground moving platform. The power supply part of the mooring flight mechanical arm is arranged in the ground moving platform, and the ground moving platform supplies power to the aircraft and the rope driving device through the mooring rope. According to the mooring flight mechanical arm, the large-capacity battery is arranged on the ground moving platform, power is supplied to the mooring flight mechanical arm through the mooring cable, uninterrupted power supply to the mooring flight mechanical arm can be achieved, the aerial operation time is prolonged, meanwhile, no large-capacity battery needs to be used on an aircraft, the mass of an aircraft body can be reduced, and the flight quality is improved.

Description

technical field [0001] The invention relates to aerial operation of a flying manipulator, in particular to a mooring flying manipulator based on cable tension control and a cable tension control method thereof. Background technique [0002] In recent years, due to the rapid development of aircraft technology, UAVs have been widely used. However, most of the current applications and researches of UAVs are based on observation and patrol, and lack interaction with the environment. Faced with the increasing demand for aerial operations, an aerial manipulator based on rotorcraft is proposed. Combining the aerial motion control, hovering performance and operability of the manipulator of the rotorcraft, a rotorcraft manipulator is formed to realize aerial operations. [0003] However, traditional ordinary rotorcraft generally place the drive system at the joints, which makes the inertia of the moving arm part too large, and the upper-stage drive system becomes the load of the ne...

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