ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications

Conference paper (2023)

Authors

V. van der Wijk Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
J.L. Herder Precision and Microsystems Engineering
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Kartik Suryavanshi, S. Hamaza, V. van der Wijk, J.L. Herder
DOI: https://doi.org/10.1109/ICRA48891.2023.10160451
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Published Date

2023

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

In this paper, we present the ADAPT, a novel reconfigurable force-balanced parallel manipulator for spatial motions and interaction capabilities underneath a drone. The reconfigurable aspect allows different motion-based 3-DoF operation modes like translational, rotational, planar, and so on, without the need for disassembly. For the purpose of this study, the manipulator is used in translation mode only. A kinematic model is developed and validated for the manipulator. The design and motion capabilities are also validated both by conducting dynamics simulations of a simplified model on MSC ADAMS, and experiments on the physical setup. The force-balanced nature of this novel design decouples the motion of the manipulator’s end-effector from the base, zeroing the reaction forces, making this design ideally suited for aerial manipulation applications, or generic floating-base applications.

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