Design and Experiment of a Deformable Bird-inspired UAV Perching Mechanism
Post: 2021-12-23 12:31  View:394

Energy consumption and acoustic noise can be significantly reduced through perching in the sustained flights of small Unmanned Aerial Vehicles (UAVs). However, the existing flying perching robots lack good adaptability or loading capacity in unstructured environments. Aiming at solving these problems, a deformable UAV perching mechanism with strong adaptability and high loading capacity, which is inspired by the structure and movements of birds' feet, is presented in this paper. Three elastic toes, an inverted crank slider mechanism used to realize the opening and closing movements, and a gear mechanism used to deform between two configurations are included in this mechanism. With experiments on its performance towards different objects, Results show that it can perch on various objects reliably, and its payload is more than 15 times its weight. By integrating it with a quadcopter, it can perch on different types of targets in outdoor environments, such as tree branches, cables, eaves, and spherical lamps. In addition, the energy consumption of the UAV perching system when perching on objects can be reduced to 0.015 times that of hovering.


The bionic principle of the perching mechanism. a The basic structure of bird's toes. b The opening and closing process of bird’s foot [18]. c The design concept of toe and toe-rotation mechanism: an inverted crank slider mechanism. d Anisodactyl toe arrangement and principle of configuration-change mechanism: with toe I fixed on the frame, toe II and toe III rotate in the opposite direction to realize the deformation between type I and type II. e Overall concept of the perching mechanism, with a gear mechanism used to perform the deformation placed in the lower part

This work is carried out by Long Bai1  · Hao Wang1  · Xiaohong Chen1  · Jia Zheng2  · Liming Xin3  · Yupeng Deng1  · Yuanxi Sun1

1 State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, China
2 College of Advanced Manufacturing Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
3 School of Computer Engineering and Science, Shanghai University, Shanghai 200444, China

and published on JBE Volume 18,  Issue 6,  November 2021,  Pages 1304–1316

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