Novel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator

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dc.contributor.advisorZhang, Dan
dc.creatorArns, Moritz
dc.date.accessioned2019-07-02T16:28:10Z
dc.date.available2019-07-02T16:28:10Z
dc.date.copyright2019-04-12
dc.date.issued2019-07-02
dc.date.updated2019-07-02T16:28:10Z
dc.degree.disciplineMechanical Engineering
dc.degree.levelMaster's
dc.degree.nameMASc - Master of Applied Science
dc.description.abstractIn this work a novel dual-functioning rotorcraft undercarriage is developed. The design is a reconfigurable delta robot which allows for transformation between Adaptive Landing Gear for vertical take-off and landing and 3DOF Aerial Manipulation mode. To reconfigure between operation modes without reaching singularities, a guideline to find a singularity-free geometry is presented. An adaptive landing control was developed and validated on a test-stand. For the 3DOF manipulation of the delta-structure, a third-order smooth trajectory was presented and integrated. The prototype, also depicted in the accompanying video, is then presented in free flight experiments demonstrating the advantages of the dual-functioning system.
dc.identifier.urihttp://hdl.handle.net/10315/36342
dc.language.isoen
dc.rightsAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.
dc.subjectAerospace engineering
dc.subject.keywordsdrone delivery
dc.subject.keywordsadaptive landing gear
dc.subject.keywordsaerial manipulation
dc.subject.keywordsrotorcraft
dc.subject.keywordssearch and rescue drone
dc.subject.keywordsdelta robot
dc.subject.keywordsslope landing
dc.subject.keywords3DOF
dc.subject.keywordsrobotic
dc.subject.keywordslanding gear
dc.subject.keywordsdual-functioning
dc.subject.keywordsuav
dc.subject.keywordsadaptive landing
dc.subject.keywordsquadcopter
dc.subject.keywordsreconfiguration
dc.subject.keywordsparallel robotics
dc.subject.keywordsparallel mechanism
dc.titleNovel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator
dc.typeElectronic Thesis or Dissertation

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