接触作业型飞行机械臂研究进展  

Research Progress of Aerial Manipulators for Contact-based Operations

作　　者：宋光明[1,2,3] 郝爽 纪梓潮 张钧奕 宋爱国 SONG Guangming;HAO Shuang;JI Zichao;ZHANG Junyi;SONG Aiguo(School of Instrument Science and Engineering,Southeast University,Nanjing 210096;State Key Laboratory of Digital Medical Engineering,Nanjing 210096;Jiangsu Key Lab of Robot Sensing and Control,Nanjing 210096)

机构地区：[1]东南大学仪器科学与工程学院,南京210096 [2]数字医学工程全国重点实验室,南京210096 [3]机器人感知与控制技术江苏省重点实验室,南京210096

出　　处：《机械工程学报》2025年第3期197-211,共15页Journal of Mechanical Engineering

基　　金：国家自然科学基金(62373098,61973076,52127813)资助项目。

摘　　要：飞行机械臂是由旋翼无人机和机械臂组成的新型飞行机器人系统,兼具无人机的灵活机动能力和机械臂的操作能力,可飞抵高处地点执行运输作业或接触作业任务,具有广阔的应用前景。接触作业型飞行机械臂是油气工业、交通、水利、电力等行业基础设施运维急需的先进技术装备,近十年来一直是机器人与自动化领域的研究热点。梳理分析前人研究,对接触作业型飞行机械臂关键技术进行了研究现状综述。首先,根据末端执行器与作业对象之间的交互特性将飞行机械臂的接触作业模式划分为定点、滑动和干预三大类,并分别进行了介绍。然后,对接触作业型飞行机械臂的机构设计技术进行了阐述,主要包括基于常规多轴无人机、全驱多轴无人机和旋翼组合体等本体平台的典型样机;对接触作业型飞行机械臂的控制方法进行了阐述,主要包括飞行控制、被动柔顺控制、主动柔顺控制以及双边遥操作控制。最后,对接触作业型飞行机械臂关键技术发展趋势进行了展望。Aerial manipulators(AMs)are a new type of aerial robots that integrate multirotor unmanned aerial vehicles(UAVs)with robotic manipulators.With agile flight and manipulation capabilities simultaneously,AMs can reach high-altitude places to perform transportation or contact-based tasks,which leads to broad application prospects.Contact-based-operation-type AMs are advanced technical equipment for infrastructure maintenance which are urgently needed by many industries including oil and gas,transportation,hydraulic engineering,and electric power.In the past decade,contact-based-operation-type AM technologies have attracted increasing attentions in the field of robotics and automation.This research summarizes and analyzes the past studies on the key technologies for contact-based-operation-type AMs.Firstly,the contact-based operation modes of the AMs are introduced,which are divided into three types according to the interaction characteristics between the end effectors and the target objects,i.e.,point contact,sliding contact,and intervention contact.Then,the mechanism design technologies are discussed by comparing some representative prototypes based on the conventional multirotor UAVs,the fully-actuated multirotor UAVs,the interconnected actuated multibody platforms,etc.The control methods are discussed,which include the flight control,the passive compliance control,the active compliance control,and the bilateral teleoperation control.Finally,the future development trends of these key technologies are prospected.

关 键 词：飞行机械臂 旋翼无人机 接触作业 机构设计 控制方法 

分 类 号：V279[航空宇航科学与技术—飞行器设计]