A flexible propelled arm: Mechanical considerations for the use in UAVs

Ruiz, Fernando Babi; Arrue, Begoña C.; Ollero, A.

doi:10.1109/icuas54217.2022.9836149

Cited by 6 publications

References 20 publications

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A Study on the Effect of Structural Compliance Placing in Soft Contact/Collision Properties of Multirotor Micro Aerial Vehicles

Abazari,

Bakir,

Sertpoyraz

et al. 2024

Advanced Intelligent Systems

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Adding compliance (softness) has been introduced as an effective way to improve the physical collision resilience characteristics of multirotor micro aerial vehicles (MAVs). This article answers the question “Where is the best place to apply compliance in a multirotor MAV to make it more collision‐resilient?” by analyzing the output data of more than 1200 drone collision tests through two sets of accelerated and nonaccelerated collision experiments for four main configurations of micro‐quadcopters each possessing a unique softness layout of physical frame. It is shown that while applying compliance to the protective propeller guards (bumpers) of a micro‐quadcopter provides a more elastic collision, it does not improve its energy‐dissipation (impact damping) characteristics. On the other hand, enhancing the inner frame of the micro‐quadcopter with a softer structure results in higher rates of impact energy damping during the collisions and an increase in the impact time, which results in lower impact accelerations the MAV experiences during the crush. A mathematical model is developed representing the contact/collision interactions as nonlinear viscoelastic forces. Comparing the results of the simulations to the experiments suggests that this model can effectively mimic the impact behavior of contacting/colliding MAVs with different structural stiffness and damping.

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A Study on the Effect of Structural Compliance Placing in Soft Contact/Collision Properties of Multirotor Micro Aerial Vehicles

Abazari,

Bakir,

Sertpoyraz

et al. 2024

Advanced Intelligent Systems

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A review on the shape memory alloy, vibration dampers used in UAVs

Kalita,

Guntu,

Seelam

et al. 2024

AIP Conference Proceedings

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SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment

Ruiz¹,

Arrue²,

Ollero³

2022

IEEE Robot. Autom. Lett.

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This paper presents the first design of a soft, 3D-printed in flexible filament, lightweight UAV, capable of performing full-body perching using soft tendons, specifically landing and stabilizing on pipelines and irregular surfaces without the need for an auxiliary system. The flexibility of the UAV can be controlled during the additive manufacturing process by adjusting the infill rate ρT P U distribution. However, the increase in flexibility implies difficulties in controlling the UAV, as well as structural, aerodynamic, and aeroelastic effects. This article provides insight into the dynamics of the system and validates the flyability of the vehicle for densities as low as 6%. Within this range, quasi-static arm deformations can be considered, thus the autopilot is fed back through a static arm deflection model. At lower densities, strong non-linear elastic dynamics appear, which translates to complex modeling, and it is suggested to switch to data-based approaches.

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A flexible propelled arm: Mechanical considerations for the use in UAVs

Cited by 6 publications

References 20 publications

A Study on the Effect of Structural Compliance Placing in Soft Contact/Collision Properties of Multirotor Micro Aerial Vehicles

A Study on the Effect of Structural Compliance Placing in Soft Contact/Collision Properties of Multirotor Micro Aerial Vehicles

A review on the shape memory alloy, vibration dampers used in UAVs

SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment

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