Imperial College London
Alternate

ProfessorMirkoKovac

Faculty of Engineering, Department of Aeronautics

Professor in Aerial Robotics
 
 
 
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Contact

 

+44 (0)20 7594 5063m.kovac Website

 
 
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Location

 

326City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Hamaza:2020:10.1109/UR49135.2020.9144837,
author = {Hamaza, S and Kovac, M},
doi = {10.1109/UR49135.2020.9144837},
pages = {153--158},
publisher = {IEEE},
title = {Omni-drone: on the design of a novel aerial manipulator with omni-directional workspace},
url = {http://dx.doi.org/10.1109/UR49135.2020.9144837},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Aerial manipulation is a nascent research area that offers major impact for infrastructure monitoring and repair. While several design and control methods have been presented, there is still a need for new mechatronic solutions that are structurally optimised for aerial manipulation tasks. In this paper we present a novel design for a manipulator tailored for aerial applications with a high level of morphological integration with the robot frame. A hybrid system is presented that comprises a 5-bar linkage parallel robot with an additional active joint for the swirling motion about a pivotal point. The design offers an omnidirectional workspace about the aerial vehicle, enhancing the versatility of the aerial system and the tasks that can be accomplished. The mechanical design of the proposed robot, the analysis of the kinematics and the study of the workspace are presented. The novel manipulator represents the first of its kind, enabling aerial interaction with ceilings, curved surfaces and side interaction with facades.
AU  - Hamaza,S
AU  - Kovac,M
DO  - 10.1109/UR49135.2020.9144837
EP  - 158
PB  - IEEE
PY  - 2020///
SN  - 2325-033X
SP  - 153
TI  - Omni-drone: on the design of a novel aerial manipulator with omni-directional workspace
UR  - http://dx.doi.org/10.1109/UR49135.2020.9144837
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000612835600025&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - https://ieeexplore.ieee.org/document/9144837
ER  -
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