To further increase the adaptability and versatility of aerial vehicles, this paper presents a novel deployable quad-rotor enabled aerial gripper without integrating extra manipulators. In specific, the quad-rotor can morph/deploy in flight by actuating a simple but effective articulated rigid-elements based morphing mechanism, and the function of the gripper can be simultaneously achieved by following the extension/contraction of the deployable articulated mechanism. The proposed mechanism not only endows the quad-rotor with mechanical advantages such as high stiffness but also forms a morph-driven aerial gripper, which helps materialize a novel, compact yet efficient, and dual functional aerial vehicle. In addition, in order to control the morphing quad-rotor system, a morph-independent dynamic model and the corresponding control strategy are developed and presented. Extensive simulations and experiments on the proposed in-flight morphing mechanism and grasping functions of the gripper are performed. The results verify the effectiveness of the deployment/morphing mechanism and simultaneously enabled grasping functions, including handling different objects with various sizes, shapes, and textures. The results also validate that our deployment/morphing mechanism has less effect on flight behavior, but does own advantages of multi-maneuverability and morphological adaptation.

为了进一步提高飞行器的适应性和多功能性，本文提出了一种新型的可部署四旋翼航空夹具，无需集成额外的机械手。具体而言，四旋翼可以通过驱动一个简单但有效的基于铰接刚性元件的变形机构在飞行中变形/展开，并且可以通过跟随可展开关节机构的伸展/收缩来同时实现抓手的功能。所提出的机构不仅赋予四旋翼机械优势，如高刚度，而且形成了一个变形驱动的空中抓手，这有助于实现一种新颖、紧凑但高效的双功能飞行器。此外，为了控制变形四旋翼系统，开发并提出了一个与变形无关的动态模型和相应的控制策略。对所提出的飞行变形机制和夹持器的抓取功能进行了广泛的模拟和实验。结果验证了部署/变形机制的有效性，并同时启用了抓取功能，包括处理具有不同大小、形状和纹理的不同对象。结果还验证了我们的部署/变形机制对飞行行为的影响较小，但确实具有多机动性和形态适应的优势。结果验证了部署/变形机制的有效性，并同时启用了抓取功能，包括处理具有不同大小、形状和纹理的不同对象。结果还验证了我们的部署/变形机制对飞行行为的影响较小，但确实具有多机动性和形态适应的优势。结果验证了部署/变形机制的有效性，并同时启用了抓取功能，包括处理具有不同大小、形状和纹理的不同对象。结果还验证了我们的部署/变形机制对飞行行为的影响较小，但确实具有多机动性和形态适应的优势。