機体固定用ハンドと作業用マニピュレータを備えた高所作業用飛行ロボットの作業領域の拡大

抄録

In the previous study, we developed the aerial robot equipped a gripper, which is used for placing the body by grasping a bar object, and a manipulator, which is used for manipulating an object at high place. But the workspace of this manipulator along the yaw direction is not enough to do some works. We added the yaw rotation mechanism between the frame and the fixing gripper instead of old one attached under the frame so that its workspace was expanded and it can move 360 degrees. In addition, this changing makes the manipulation safer than before because the arm of manipulator never touches the propellers due to unchanged positional relationship.