Abstract
In recent years, various researches using UAVs (Unmanned Aerial Vehicles), especially multi-copter in various tasks, have been conducted due to their high mobility. Various perching mechanisms to perch the multi-copter onto the surface were developed for energy efficiency and to ensure safety while doing its tasks. However, developing mechanisms for multi-copter has limitations, such as limited payload. In this paper, we propose the perching and fail-safe module for the wall-climbing aerial robot “CAROS-Q” which can tilt its pose to perch on tilted surfaces. The proposed module consists of a passive perching mechanism with a specially designed suction cup to perch onto the surface safely, and a fail-safe mechanism to prevent falling from unexpected accidents. The prototype verifies the performance of the proposed module.
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Acknowledgement
This paper was funded by Korea Electric Power Corporation (Development of Robot System for Patrol and Inspection of Underground Power Transmission Tunnels).
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Kim, T., Tirtawardhana, C., Yu, B., Nahrendra, I.M.A., Kim, S., Myung, H. (2023). Development of Perching and Fail-Safe Module for Wall Climbing Multi-copter. In: Jo, J., et al. Robot Intelligence Technology and Applications 7. RiTA 2022. Lecture Notes in Networks and Systems, vol 642. Springer, Cham. https://doi.org/10.1007/978-3-031-26889-2_21
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DOI: https://doi.org/10.1007/978-3-031-26889-2_21
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