ワイヤ懸架ハンドによるロングリーチ空中マニピュレーション

抄録

In this paper, we proposed the long-reach aerial manipulation by multi-rotor UAV. The aerial system consists of a hexarotor with winch mechanism and wire-suspended robotic hand equipped on swing-suppression device.The system allowed robotic hand act as a long-reach manipulator. The swing motion of robotic hand is suspended from swing-suppression device. To verify maximum length of two wires, we analyzed yaw axis swing motion of wire-suspended robotic hand. In experiment, we succeed to perform the pick and place manipulation task.