Aerial Continuum Manipulator Kinematics for Minimal Tendon Slacking

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Solution Overview

Problem

Current aerial manipulators face a conflict between payload capacity and degrees of freedom (DOF), with lightweight UAVs having limited payload and DOF, restricting their flexibility and applications, and traditional manipulators requiring larger platforms due to increased weight from additional actuators.

Innovation Solution

A combination of a multirotor UAV with a lightweight, tendon-driven continuum robotic arm offering high payload capacity and flexibility, featuring a novel mechanical design and sensor-based kinematics model to inhibit tendon slacking.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If traditional multi-DOF robotic manipulators are used in aerial systems, then the workspace and functionality are expanded, but the weight increases requiring larger aerial platforms

Engineering Contradiction:

Improveworkspace and functionalityVSAvoidmanipulator weight

Core Design Contradiction:

Adaptability or versatilityVSWeight of moving object

Solution Approach 1:

The patent employs a continuum robotic manipulator with flexible, tendon-driven segments that can bend and articulate without rigid joints. This flexible structure achieves multi-degree-of-freedom motion capability while maintaining lightweight construction, eliminating the need for heavy actuators at each joint that would otherwise be required in traditional rigid manipulators

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The patent replaces traditional mechanical joint actuators with a tendon-driven control system. Tendons are routed through the continuum manipulator segments, allowing remote actuation of bending motions. This substitution eliminates heavy motors and gearboxes at each joint, significantly reducing the overall weight while preserving dexterity and workspace

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Ease of operation

If lightweight UAV platforms are used, then flying dexterity in various environments is improved, but payload capacity and manipulator DOFs are restricted

Engineering Contradiction:

Improveflying dexterityVSAvoidmanipulator DOFs

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The continuum manipulator's flexible structure allows it to achieve complex configurations and orientations with minimal mass. The ability to bend continuously along its length provides numerous degrees of freedom without requiring heavy counterweights or stabilization mechanisms, making it ideal for lightweight UAV platforms

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The patent implements active control of the continuum manipulator's configuration through tendon actuation. The manipulator can dynamically adjust its shape and stiffness to adapt to different task requirements, providing high DOF capability on lightweight platforms through software-controlled flexibility rather than mechanical complexity

Inventive Principle:

Principle #15Dynamics

3Adaptability or versatility

If more actuators are added to increase manipulator DOFs, then the operation space and motion dexterity are expanded, but the weight increases reducing payload capacity

Engineering Contradiction:

Improvemotion dexterityVSAvoidmanipulator weight

Core Design Contradiction:

Adaptability or versatilityVSWeight of moving object

Solution Approach 1:

The patent replaces distributed mechanical actuators with a centralized tendon-driven system. Instead of placing motors at each joint, tendons are pulled and pushed from remote locations to create bending moments throughout the manipulator segments. This substitution dramatically reduces the number and size of actuators required while maintaining or enhancing motion dexterity

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The tendon-driven continuum manipulator achieves multiple functions with a single actuation system. The same tendon mechanism enables both positioning and configuration control, providing multi-DOF capability without requiring separate actuators for each degree of freedom. This multi-functionality reduces overall system weight while expanding operational capabilities

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12564943B2Aerial continuum manipulator with kinematics for variable loading and minimal tendon-slacking

Publication Date: 2026.03.03 THE UNIVERSITY OF HONG KONG

AI summary

The subject invention pertains to a novel aerial manipulation system with a flying continuum robotic manipulator (AeCoM). A lightweight tendon-driven continuum robotic arm is coupled with an unmanned aerial vehicle. An attitude sensor (IMU) is used to assist in PCC (Piecewise Constant Curvature) configuration. A tension-based closed-loop control method is used to avoid tendon slacking in manipulating the shape of the continuum arm. The system can achieve improved relative payload capability and motion dexterity. Experimental results validate the performance of tendon-slacking avoidance and kinematics accuracy with different tip loading and tip positioning accuracy for aerial grasping.