Open AccessPassive Perching with Energy Storage for Winged Aerial Robots
Author(s) -
Stewart William,
Guarino Luca,
Piskarev Yegor,
Floreano Dario
Publication year - 2023
Publication title -
advanced intelligent systems
Language(s) - English
Resource type - Journals
ISSN - 2640-4567
DOI - 10.1002/aisy.202100150
Subject(s) - touchdown , kinetic energy , mechanism (biology) , range (aeronautics) , robot , energy (signal processing) , work (physics) , mechanical energy , multirotor , energy storage , energy balance , automotive engineering , computer science , simulation , aerospace engineering , environmental science , engineering , mechanical engineering , physics , artificial intelligence , quantum mechanics , history , thermodynamics , power (physics) , archaeology
Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic energy balance has to be struck. Reducing too much energy results in the vehicle stalling and falling. Too much kinetic energy at touchdown could damage the vehicle. Most studies used dangerous pitch‐up maneuvers to manage this balance. This work presents a system that eliminates the pitch‐up maneuver by mechanically capturing and storing kinetic energy at impact. It is validated using a passive mechanical system consisting of a storage mechanism for energy recuperation and a claw for perching on a horizontal rod. The energy stored in the mechanism is then used to unperch. The mathematical model for the recuperation strategy is presented and perching success at various approach attitudes are characterized. The proof‐of‐concept claw recaptures 5% of the kinetic energy during perching. Experiments indicate that the device can successfully perch at a wide range of yaw angles, but requires more precision in roll. We show that our perching mechanism enables the fastest UAV perching to date (7.4 m s −1 ).