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Article

Development of an Anthropomorphic and Dexterous Dual-Arm System for Aerial Cooperative Bimanual Manipulation

by
Peng Yang
1,*,
Hao Wang
1,
Zhen Liu
1,
Zhiyan Dong
1,2 and
Lihua Zhang
1,2
1
Ji Hua Laboratory, Foshan 528200, China
2
Academy for Engineering & Technology-AI and Robot, Fudan University, Shanghai 200082, China
*
Author to whom correspondence should be addressed.
Machines 2022, 10(4), 273; https://doi.org/10.3390/machines10040273
Submission received: 18 February 2022 / Revised: 8 April 2022 / Accepted: 8 April 2022 / Published: 11 April 2022
(This article belongs to the Section Robotics, Mechatronics and Intelligent Machines)
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Abstract

It is a challenging task for an aerial manipulator to complete dual-arm cooperative manipulation in an outdoor environment. In this study, a new dual-arm aerial manipulator system with flexible operation is developed. The dual-arm manipulator system is designed for the application of aerial manipulation, and it has the characteristics of low weight, low inertia, and a humanoid arm structure. The arm structure is composed of customized aluminum parts, each manipulator contains four degrees of freedom, similar to the arrangement of human joints, including shoulder yaw, shoulder pitch, elbow pitch, and wrist roll. Next, the workspace of the dual-arm manipulator is simulated and analyzed, and the relevant kinematic and dynamic models are deduced. Finally, through the lift load, accuracy and repeatability, cooperative bimanual manipulation tests on the test bench, and multiple groups of outdoor flight tests, the relevant performance analysis and verification of the dual-arm aerial manipulator system are carried out. The test results evaluate the feasibility of the designed dual-arm aerial manipulator system for outdoor cooperative manipulation.
Keywords: aerial robot; aerial manipulation; lightweight dual-arm; cooperative bimanual manipulation aerial robot; aerial manipulation; lightweight dual-arm; cooperative bimanual manipulation

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MDPI and ACS Style

Yang, P.; Wang, H.; Liu, Z.; Dong, Z.; Zhang, L. Development of an Anthropomorphic and Dexterous Dual-Arm System for Aerial Cooperative Bimanual Manipulation. Machines 2022, 10, 273. https://doi.org/10.3390/machines10040273

AMA Style

Yang P, Wang H, Liu Z, Dong Z, Zhang L. Development of an Anthropomorphic and Dexterous Dual-Arm System for Aerial Cooperative Bimanual Manipulation. Machines. 2022; 10(4):273. https://doi.org/10.3390/machines10040273

Chicago/Turabian Style

Yang, Peng, Hao Wang, Zhen Liu, Zhiyan Dong, and Lihua Zhang. 2022. "Development of an Anthropomorphic and Dexterous Dual-Arm System for Aerial Cooperative Bimanual Manipulation" Machines 10, no. 4: 273. https://doi.org/10.3390/machines10040273

APA Style

Yang, P., Wang, H., Liu, Z., Dong, Z., & Zhang, L. (2022). Development of an Anthropomorphic and Dexterous Dual-Arm System for Aerial Cooperative Bimanual Manipulation. Machines, 10(4), 273. https://doi.org/10.3390/machines10040273

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