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<p>Recent advances in aerial manipulators, which integrate quadrotors and robotic arms, have been focused on expanding their functionality. Robotic arms that can bend and extend towards tilted or vertical surfaces are in high demand for safe industrial applications. This study proposes a novel aerial manipulator design using asymmetric and symmetric scissor mechanisms for bending. To keep the drone from flipping due to increased moments along the extension direction, we introduce a movable counterweight mechanism. This design enables simultaneous extension and moment compensating using just one degree of freedom actuator, eliminating the need for additional motors or counterweights and enhancing payload capacity. Experimental results show that the proposed mechanism reduced moments from 0.4198 Nm to as low as 0.0127 Nm, achieving a 96.9% moment compensation. This validates the proposed mechanism’s ability to maintain quadrotor stability while offering a lightweight and efficient solution for aerial manipulation.</p>

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Aerial Manipulator With a Laterally Extendable Scissor Mechanism for Both Extension and Automatic Moment Compensation Using a Single Actuator

  • 期刊论文

  • 发表日期：

    2025年5月14日

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  • Gowoon Jeong,
  • Siheon An,
  • Se-Ryeong Oh,
  • Subin Im,
  • Seong Young Ko

摘要

Recent advances in aerial manipulators, which integrate quadrotors and robotic arms, have been focused on expanding their functionality. Robotic arms that can bend and extend towards tilted or vertical surfaces are in high demand for safe industrial applications. This study proposes a novel aerial manipulator design using asymmetric and symmetric scissor mechanisms for bending. To keep the drone from flipping due to increased moments along the extension direction, we introduce a movable counterweight mechanism. This design enables simultaneous extension and moment compensating using just one degree of freedom actuator, eliminating the need for additional motors or counterweights and enhancing payload capacity. Experimental results show that the proposed mechanism reduced moments from 0.4198 Nm to as low as 0.0127 Nm, achieving a 96.9% moment compensation. This validates the proposed mechanism’s ability to maintain quadrotor stability while offering a lightweight and efficient solution for aerial manipulation.