Inspired by talon of a predator bird, this paper presents a quadrotor with two 2- Degree of Freedoms (DOFs) compliant manipulators which could mimic bird perching and grasping. The symmetric configuration of the manipulators causes minimum shift in center of gravity and a minimum disturbance to the angular momentum of the platform during grasping and perching maneuvers. Thus, the dynamics of the manipulator is independent to that of the platform. Moreover, a compliant end-effector is introduced to decouple the dynamics of the unmanned aerial vehicles from the force interaction with the environment or target objects. Therefore, aerial manipulation problem is significantly simplified due to the minimum amount of disturbance among components. In addition, the manipulators could function as the landing gear, which allows larger work envelope, weight saving and less landing impact. It also has the potential to achieve a bird-like “perch and watch” to increase the endurance of unmanned aerial vehicles in missions that involve extended endurance.

中文翻译：

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使用双对称机械手和柔性末端执行器探索空中栖息和抓取

受捕食鸟类的爪子的启发，本文提出了一种四旋翼飞行器，该四旋翼具有两个 2 自由度 (DOF) 兼容机械手，可以模拟鸟类栖息和抓握。机械手的对称配置在抓取和栖息操作期间导致重心的最小偏移和对平台角动量的最小干扰。因此，操纵器的动力学独立于平台的动力学。此外，还引入了柔性末端执行器，以将无人机的动力学与环境或目标物体的力相互作用分离。因此，由于组件之间的干扰量最小，空中操纵问题显着简化。此外，机械手可以起到起落架的作用，允许更大的工作范围，减轻重量并减少着陆影响。它还具有实现类似鸟类的“栖息观察”的潜力，以增加无人机在涉及延长续航力的任务中的续航力。