A Sarrus-Based Passive Mechanism for Rotorcraft Perching

Burroughs, Michelle L.; Freckleton, K. Beauwen; Abbott, Jake J.; Minor, Mark A.

doi:10.1115/1.4030672

Cited by 24 publications

(7 citation statements)

References 25 publications

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“…These surfaces can be gripped from any direction, and allow for slight misalignment on contact. Many enclosed grasping mechanisms use jointed or compliant fingers [55,56,[169][170][171][172][173][174][175], though others involve simply hooking and hanging (figure 3a,n) [58]. By contrast, one unusual modular snake-like robot wraps its entire body around cylinders upon contact (figure 3i) [59].…”

Section: Surface Contact and Locomotion In Aerial Robotsmentioning

confidence: 99%

Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

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Small aerial robots are limited to short mission times because aerodynamic and energy conversion efficiency diminish with scale. One way to extend mission times is to perch, as biological flyers do. Beyond perching, small robot flyers benefit from manoeuvring on surfaces for a diverse set of tasks, including exploration, inspection and collection of samples. These opportunities have prompted an interest in bimodal aerial and surface locomotion on both engineered and natural surfaces. To accomplish such novel robot behaviours, recent efforts have included advancing our understanding of the aerodynamics of surface approach and take-off, the contact dynamics of perching and attachment and making surface locomotion more efficient and robust. While current aerial robots show promise, flying animals, including insects, bats and birds, far surpass them in versatility, reliability and robustness. The maximal size of both perching animals and robots is limited by scaling laws for both adhesion and claw-based surface attachment. Biomechanists can use the current variety of specialized robots as inspiration for probing unknown aspects of bimodal animal locomotion. Similarly, the pitch-up landing manoeuvres and surface attachment techniques of animals can offer an evolutionary design guide for developing robots that perch on more diverse and complex surfaces.

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Section: Surface Contact and Locomotion In Aerial Robotsmentioning

confidence: 99%

Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

View full text Add to dashboard Cite

show abstract

“…Gecko-inspired adhesives have been found successful for perching on smooth inclined and vertical surfaces [70,93,94]. In addition, rotorcraft perching can be achieved via various attachments such as suction-based mechanisms [95], spines [96], and passive [97,98] and active [2,99] grippers.…”

Section: Perchingmentioning

confidence: 99%

Energetics in robotic flight at small scales

Karydis

Kumar

2017

Interface Focus.

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Recent advances in design, sensing and control have led to aerial robots that offer great promise in a range of real-world applications. However, one critical open question centres on how to improve the energetic efficiency of aerial robots so that they can be useful in practical situations. This review paper provides a survey on small-scale aerial robots (i.e. less than 1 m 2 area foot print, and less than 3 kg weight) from the point of view of energetics. The paper discusses methods to improve the efficiency of aerial vehicles, and reports on recent findings by the authors and other groups on modelling the impact of aerodynamics for the purpose of building energy-aware motion planners and controllers.

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“…The Sarrus mechanism is a spatial overconstrained mechanism with one pure translational motion capability [ 33 ]. All joints in this mechanism are rotational joints.…”

Section: Methodsmentioning

confidence: 99%

Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System

Zhao

Cui

et al. 2021

Applied Bionics and Biomechanics

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Flexible ureteroscopy (FURS) has been developed and has become a preferred routine procedure for both diagnosis and treatment of kidney stones and other renal diseases inside the urinary tract. The traditional manual FURS procedure is highly skill-demanding and easily brings about physical fatigue and burnout for surgeons. The improper operational ergonomics and fragile instruments also hinder its further development and patient safety enhancement. A robotic system is presented in this paper to assist the FURS procedure. The system with a master-slave configuration is designed based on the requirement analysis in manual operation. A joint-to-joint mapping strategy and several control strategies are built to realize intuitive and safe operations. Both phantom and animal experiments validate that the robot has significant advantages over manual operations, including the easy-to-use manner, reduced intraoperative time, and improved surgical ergonomics. The proposed robotic system can solve the major drawbacks of manual FURS. The test results demonstrate that the robot has great potential for clinical applications.

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A Sarrus-Based Passive Mechanism for Rotorcraft Perching

Cited by 24 publications

References 25 publications

Touchdown to take-off: at the interface of flight and surface locomotion

Touchdown to take-off: at the interface of flight and surface locomotion

Energetics in robotic flight at small scales

Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System

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