UAV Parallel Manipulator With Dynamic Counterweight Stabilization
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Solution Overview
Problem
Unmanned aerial vehicles (UAVs) with robotic arms or manipulators often experience deviations from their flight path due to uneven weight distribution, requiring additional power to correct orientation and stabilization, which is particularly problematic when carrying fragile payloads.
Innovation Solution
A controllable parallel manipulator and gripper (PMG) system is attached to the UAV, featuring a base member with rotatably and pivotally coupled rigid members, repositionable weights, and actuators to adjust the center of gravity, along with sensors and a control unit for precise manipulation and stabilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic arms with grippers, booms, cameras, and payloads are attached to UAVs, then the UAV can perform manipulation tasks, but the uneven weight distribution causes the UAV to deviate from flight path and requires additional power for stabilization
Solution Approach 1:
The patent implements a counterweight mechanism that dynamically adjusts to balance the UAV's center of gravity. The counterweight system includes movable masses that can be repositioned along the robotic arm structure to compensate for the weight of attached payloads, grippers, and cameras, thereby maintaining flight stability without requiring additional stabilization power
Solution Approach 2:
The patent employs dynamic weight balancing where the counterweight positions are continuously adjusted based on the current payload configuration. Sensors detect the center of gravity shifts and the control system actuates the counterweight mechanism to maintain balance, allowing the UAV to adapt to varying manipulation task requirements while minimizing energy consumption
2Ease of operation
If robotic arms are attached to UAVs, then the UAV can handle objects, but the flight stabilization is significantly impacted and additional power is required to correct orientation
Solution Approach 1:
The counterweight mechanism directly compensates for the gravitational torque introduced by the robotic arm and its payload, eliminating the need for the UAV's flight control system to continuously correct orientation deviations. This passive balancing approach significantly reduces the power required for flight stabilization
Solution Approach 2:
The counterweight system operates autonomously to maintain balance, using sensors to detect center of gravity shifts and automatically adjusting counterweight positions without requiring continuous active correction from the UAV's propulsion system, thereby reducing power consumption
3Adaptability or versatility
If payloads are attached to UAVs with robotic arms, then the UAV can transport and manipulate payloads, but fragile payloads may be disrupted during flight
Solution Approach 1:
The counterweight mechanism maintains the UAV's center of gravity in a stable position, preventing oscillations and abrupt movements that could disrupt fragile payloads. By actively balancing the system, the UAV provides a stable platform for transporting sensitive objects
Solution Approach 2:
The dynamic balance control continuously adapts to payload changes, ensuring smooth and stable flight characteristics that protect fragile payloads from disruption during transport and manipulation operations
Data Source
AI summary
A parallel manipulator with six degrees of freedom may include a base that attaches to a unmanned aerial vehicle and a movable gripper element that may be positioned below the UAV. The positioning of the gripper element my reduce impact of the center of gravity of the attached UAV. The gripper element may include a geometric shape that complements objects routinely used in high-throughput screening (HTS) laboratories, such as microplates. The parallel manipulator and gripper element may be used to quickly, safely, and securely move objects in HTS laboratories and/or the like.