Abstract
Aerial manipulators have many important application scenarios, such as inspection and maintenance, search and rescue, structure assembly, and logistics. One important challenge in aerial manipulation is related to the vibrations induced on the manipulator and its end-effector by the Unmanned Aerial Vehicle (UAV), which significantly affect the grasping and manipulation precision/performance. In this paper, vibration analysis of a heavy payload octocopter has been carried out using Experimental Modal Analysis (EMA). A simplified Mass-Spring-Damper (MSD) dynamic model of the system has then been proposed, whose dynamic parameters have been identified by analyzing selected experimental modes of vibration. The identified model will be useful for the design of the manipulator and related vibrations isolation system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ruggiero, F., Lippiello, V., Ollero, A.: Aerial manipulation: a literature review. IEEE Robot. Autom. Lett. 3(3), 1957–1964 (2018)
Verbeke, J., Debruyne, S.: Vibration analysis of a UAV multirotor frame. In: Proceedings of ISMA 2016 - International Conference on Noise and Vibration Engineering (2016)
Li, Z., Lao, M., Phang, S.K., Hamid, M.R.A., Tang, K.Z., Lin, F.: Development and design methodology of an anti-vibration system on micro-UAVs. In: Proceedings of the International Micro Air Vehicle Conference and Flight Competition, Toulouse, France (2017)
Dahlin Rodin, C., de Alcantara Andrade, F.A., Hovenburg, A.R., Johansen, T.A.: A survey of practical design considerations of optical imaging stabilization systems for small unmanned aerial systems. Sensors 19(21), 4800 (2019)
Mizui, M., Yamamoto, I., Ohsawa, R.: Effects of propeller-balance on sensors in small-scale unmanned aerial vehicle. IOSRJEN 2, 23–27 (2012)
Radkowski, S., Szulim, P.: Analysis of vibration of rotors in unmanned aircraft. Advances in Intelligent Systems and Computing, vol. 317, pp. 363–371 (2015)
Changshuai, Y., Haitao, L., Siwei, G.: Vibration test and vibration reduction design of UAV load radar. In: ACM International Conference Proceeding Series (2019)
Oh, J.-S., Han, Y.-M., Choi, S.-B.: Vibration control of a camera mount system for an unmanned aerial vehicle using piezostack actuators. Smart Mater. Struct. 20(8), 085020 (2011)
Tullu, A., Byun, Y., Kim, J.-N., Kang, B.-S.: Parameter optimization to avoid propeller-induced structural resonance of quadrotor type unmanned aerial vehicle. Compos. Struct. 193, 63–72 (2018)
Doria, A., Cocuzza, S., Comand, N., Bottin, M., Rossi, A.: Analysis of the compliance properties of an industrial robot with the Mozzi axis approach. Robotics 8(3) (2019). https://doi.org/10.3390/robotics8030080
Cocuzza, S., Pretto, I., Debei, S.: Least-squares-based reaction control of space manipulators. J. Guid. Control Dyn. 35(3), 976–986 (2012). https://doi.org/10.2514/1.45874
Cocuzza, S., Tringali, A.: Extended reactionless workspace of a space manipulator through reaction wheels. In: Proceedings of the International Astronautical Congress, IAC (2018)
Cossalter, V., Doria, A., Basso, R., Fabris, D.: Experimental analysis of out-of-plane structural vibrations of two-wheeled vehicles. Shock Vib. 11(3–4), 433–443 (2004). https://doi.org/10.1155/2004/905629
Ewins, D.J.: Modal Testing: Theory, Practice and Application, 2nd edn. Research Studies Press LTD, Baldock (2000)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Cocuzza, S., Doria, A. (2021). Modeling and Identification of Vibrations in a UAV for Aerial Manipulation. In: Niola, V., Gasparetto, A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science, vol 91. Springer, Cham. https://doi.org/10.1007/978-3-030-55807-9_21
Download citation
DOI: https://doi.org/10.1007/978-3-030-55807-9_21
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-55806-2
Online ISBN: 978-3-030-55807-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)