Abstract
In this paper, a foldable robot arm is designed for a drone manipulator. The foldable robot arm for a drone (FRAD) aims to clean solar panels. S-shape linkages are connected to form a foldable arm with a scissored structure. In order to increase the stiffness of the foldable arm, triangular prism (TP) structure arm by combining three scissored foldable arms was designed and developed with 3D printer technology. Three different scissored structures such as X-FRAD, S-FRAD, and TP-FRAD were developed for the stiffness test against the gravitational force. Experimental studies of solar panel cleaning tasks were conducted with a comparative performance analysis.
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