Abstract
In this paper, we propose a perching mechanism for a multi-rotor unmanned aerial vehicle to perch on the tip of a cylindrical object. The proposed perching system does not require any actuators and uses its own weight to open and close the gripper. In addition, the gripping force of the gripper is larger than its own weight, and the perching is stable. The system is developed such that it can perform stable landing on a flat surface as well. In order to verify the grasping force, we performed a simulation using dynamics and compared the results with data from the actual aircraft. We have verified the usefulness of this system by actually flying and perching on cylindrical objects. As a result, it was confirmed that the system can generate a force greater than its own weight when the gripper is fully closed during perching, and that the gripper can open and close passively.
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