To perch on or grasp the objective surface using the suction cup-based manipulator, the precise contact control is commonly required. Improper contact angle or insufficient contact force may cause failure. To enhance the tolerance to flight control insufficiency, a suction cup that comprises an inner soft cup and an outer firm cup to facilitate its engagement without reducing the adhesion stiffness is investigated. The soft cup is adaptable to the angular error induced by the multicopter and the resulting adhesion force can draw the firm cup and correct the angular error between the firm cup and the surface. These effects increase the engagement rate and reduce the dependence on precise control. The outer firm cup is devoted to providing a large adhesion force and a stiff base for subsequent tasks. To reduce the air evacuation time in the firm cup, a novel self-sealing structure is designed. Based on the combined cup, we build a multifunctional aerial manipulation system which can execute perching or lateral aerial grasping tasks. With the proposed prototype, the comparative flight experiments involving perching on a wall under disturbance and grasping an object are conducted. The results demonstrate that our proposed suction cup outperforms the conventional cup.

中文翻译：

---

双弹性组合吸盘自适应空中抓栖

为了使用基于吸盘的机械手栖息或抓住目标表面，通常需要精确的接触控制。接触角不当或接触力不足可能会导致故障。为了提高对飞行控制不足的容忍度，研究了一种包括内部软杯和外部硬杯的吸盘，以促进其接合而不降低粘附刚度。软杯适应多旋翼飞行器引起的角度误差，产生的附着力可以拉动硬杯，纠正硬杯与表面之间的角度误差。这些效果提高了接合率并减少了对精确控制的依赖。外部坚固的杯子致力于为后续任务提供大的附着力和坚硬的底座。为了减少硬杯中的空气排空时间，设计了一种新颖的自密封结构。基于组合杯，我们构建了一个多功能空中操纵系统，可以执行栖息或横向空中抓取任务。使用所提出的原型，进行了涉及在干扰下栖息在墙上和抓住物体的比较飞行实验。结果表明，我们提出的吸盘优于传统吸盘。