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Ground integrated robot with aerial flying flexible end-effector (GIRAFFE)

Technology title

Ground integrated robot with aerial flying flexible end-effector (GIRAFFE)GIRAFFE

Technology overview

GIRAFFE is an integrated ground-aerial robotic system with a multi-modal tether between the ground station system and aerial unit and continuum manipulator. The key feature is flexible aerial manipulation via cable actuation from the ground, thus removing the need for heavy onboard motors. Furthermore, a tether unit is connected to the aerial unit such that:

  1. batteries are not required onboard, and
  2. the aerial unit has enough endurance to perform what needs to be achieved.
Technology specifications

This invention is an aerial robot with an augmented cable-driven continuum robot capable of aerial manipulation with actuators from the ground.

 

The system can be broken into a few subsystems:

  1. Ground station
    1. Central Processing Unit
    2. Actuators
  2. Aerial robot
    1. Continuum Manipulator
    2. Augmented Tether Unit for Cable Transmission
    3. A variable end-effector depending on application

To perform manipulation, a kinematic model predictive controller solves for every motor’s desired angular velocity, which is then tracked via a lower level Proportional-Integral-Derivative controller.

Sector

Maintenance, inspection, and aerial manipulation.

Market opportunity

Any maintenance or inspection task requiring elevation via aerial work platforms can potentially be hazardous, arduous, and costly. Furthermore, aerial work platforms are also cumbersome and hence, unportable.

 

The combination of an aerial vehicle’s maneuverability with the flexibility of a continuum robot makes it an ideal candidate for such tasks with a higher level of operational safety and efficiency.

Applications

The technology can be applied for aircraft inspection, weed maintenance, warehouse manipulation and other tasks that require aerial manipulation.

Customer benefits

The client can expect to increase their pipeline efficiency, simultaneously decreasing operation expense. Furthermore, a safety working environment can also be achieved.

Technology readiness level

TRL 5