Abstract
In this paper, the concept of adaptive landing and aerial manipulation mechanism (ALAM) is proposed. The mechanism can be installed on a rotary-wing unmanned aerial vehicle (UAV), allowing the UAV to land on uneven terrain and perform aerial manipulation. Based on the Lie group, the design principles of the ALAM are proposed by combining the advantages of the generalized parallel mechanism. The design procedure of the mechanism is introduced. Then, the structure synthesis is performed for the ALAMs with 1 to 3 degrees of freedom (DOF) generalized moving platform. In order to evaluate the landing performance of the mechanism, two general indexes for evaluating landing adaptability and stability are established based on three typical structured terrains. Multi-objective parameter optimization of a 3T1R ALAM is carried out. Finally, a prototype is developed and validated for its workspace range and landing performance.
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