Print Email Facebook Twitter ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications Title ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications Author SURYAVANSHI, KARTIK (TU Delft Mechanical, Maritime and Materials Engineering) Contributor van der Wijk, V. (mentor) Hamaza, S. (mentor) Herder, J.L. (graduation committee) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Mechatronic System Design (MSD) Date 2022-09-29 Abstract In this work, we present the ADAPT, a novel reconfigurable force-balanced parallel manipulator with pantograph legs for spatial motions applied underneath a drone. The reconfigurable aspect allows different motion-based 3-DoF operation modes like translational, rotational, mixed, planar without disassembly. For the purpose of this study, the manipulator is used in translation mode only. A kinematic model is developed and validated for the manipulator. The design and motion capabilities are also validated both by conducting dynamics simulations of a simplified model on MSC ADAMS, and experiments on the physical setup.The force-balanced nature of this novel design decouples the motion of the manipulator’s end-effector from the base, zeroing the reaction forces, making this design ideally suited for aerial manipulation in unmanned aerial vehicles (UAVs) applications, or generic floating-base applications. Subject Reactionless Force BalancingConfigurable RobotMechanism DesignParallel RobotAerial Manipulation To reference this document use: http://resolver.tudelft.nl/uuid:4e4e333d-643f-43b9-99cb-650d697f5baa Part of collection Student theses Document type master thesis Rights © 2022 KARTIK SURYAVANSHI Files PDF Kartik_Thesis_final.pdf 6.1 MB MP4 ICRA23_1123_VI_i_1_.mp4 9.06 MB Close viewer /islandora/object/uuid:4e4e333d-643f-43b9-99cb-650d697f5baa/datastream/OBJ1/view