Conference
Optimization-Based Design of a Novel Hybrid Aerial/Ground Mobile Manipulator
Abstract
This paper is concerned with the mechanical design of a mobile manipulating unmanned ground vehicle (MM-UGV) coupled with an existing commercial unmanned aerial vehicle (UAV) to create a novel hybrid aerial/ground mobile manipulator. A novel systematic optimization-based approach is presented for making important design choices, such as the selection of gearboxes and electric DC motors in the drive-train, manipulator link lengths, and UGV base …
Authors
Findlay D; Jafarinasab M; Sirouspour S
Pagination
pp. 2467-2472
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 2015
DOI
10.1109/iros.2015.7353712
Name of conference
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)