Design and manufacturing of a multi-DOF lightweight aerial manipulator for rotary-wing UAV

• Main Author: Wong, Chong Yin
• Other Authors: Erdal Kayacan
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/74997
• Institution: Nanyang Technological University

Unmanned Aerial Vehicles (UAVs) have been emerged to become the most interesting aircraft in recent year due to the advantages of compact size, travels freely and allows for challenging jobs. The usage of UAVs is expanding to many different areas thanks to the development of manipulator. The traditional manipulator is redundant in term of size and weight. Therefore, the aim of this project is to design and develop a serial manipulator for addressing this concern. The new design must be lightweight, less redundancy in size and able to provide larger workspace. To satisfy these requirements, a literature review has been conducted to identify and compare the advantages of different forms of design and mechanisms. This is followed by the conceptual design and enhancement made to the design. This report also covers the detailed design for each individual component, followed by inverse kinematics, structural analysis, prototype building and testing. A new balancing system is demonstrated during the prototyping to get rid of the reaction torque generated by the manipulator. Finally, further improvement and work are included in the report as well.