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ES2508990B1 - GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM. - Google Patents

GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM. Download PDF

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Publication number
ES2508990B1
ES2508990B1 ES201330537A ES201330537A ES2508990B1 ES 2508990 B1 ES2508990 B1 ES 2508990B1 ES 201330537 A ES201330537 A ES 201330537A ES 201330537 A ES201330537 A ES 201330537A ES 2508990 B1 ES2508990 B1 ES 2508990B1
Authority
ES
Spain
Prior art keywords
robotic arm
untripulated
gravity center
load handling
displacement compensation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
ES201330537A
Other languages
Spanish (es)
Other versions
ES2508990A1 (en
Inventor
Jesus MARTIN SANCHEZ
Guillermo HEREDIA BENOT
Anibal Ollero Baturone
Raul CANO BAZAGA
Alvaro ESPIN GARCIA
Carlos PEREZ MARTINEZ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ASOCIACION DE INVESTIGACION Y COOPERACION INDUSTRIAL DE ANDALUCIA
Invest Y Cooperacion Ind De Andalucia Asoc De
Universidad de Sevilla
Fundacion Andaluza para el Desarrollo Aeroespacial
Original Assignee
ASOCIACION DE INVESTIGACION Y COOPERACION INDUSTRIAL DE ANDALUCIA
Invest Y Cooperacion Ind De Andalucia Asoc De
Universidad de Sevilla
Fundacion Andaluza para el Desarrollo Aeroespacial
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ASOCIACION DE INVESTIGACION Y COOPERACION INDUSTRIAL DE ANDALUCIA, Invest Y Cooperacion Ind De Andalucia Asoc De, Universidad de Sevilla, Fundacion Andaluza para el Desarrollo Aeroespacial filed Critical ASOCIACION DE INVESTIGACION Y COOPERACION INDUSTRIAL DE ANDALUCIA
Priority to ES201330537A priority Critical patent/ES2508990B1/en
Publication of ES2508990A1 publication Critical patent/ES2508990A1/en
Application granted granted Critical
Publication of ES2508990B1 publication Critical patent/ES2508990B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/22—Taking-up articles from earth's surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Sistema de compensación de desplazamiento del centro de gravedad por manipulación de cargas para sistema aéreo no tripulado, equipado con brazo robótico, que permite manipular cargas, y que incluye un sistema de control capaz de detectar o prever las variaciones del centro de gravedad del sistema realizando un control que aumente la estabilidad y precisión, incluyendo partes móviles para compensar total o parcialmente los desplazamientos del centro de gravedad del sistema provocados por los movimientos del sistema robótico y por las cargas manipuladas.Center of gravity offset displacement system for cargo handling for unmanned aerial system, equipped with robotic arm, which allows handling loads, and which includes a control system capable of detecting or anticipating variations of the center of gravity of the system by performing a control that increases stability and precision, including moving parts to compensate all or part of the displacements of the center of gravity of the system caused by the movements of the robotic system and the manipulated loads.

Description

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Claims (1)

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ES201330537A 2013-04-16 2013-04-16 GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM. Active ES2508990B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ES201330537A ES2508990B1 (en) 2013-04-16 2013-04-16 GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES201330537A ES2508990B1 (en) 2013-04-16 2013-04-16 GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM.

Publications (2)

Publication Number Publication Date
ES2508990A1 ES2508990A1 (en) 2014-10-16
ES2508990B1 true ES2508990B1 (en) 2015-07-29

Family

ID=51688495

Family Applications (1)

Application Number Title Priority Date Filing Date
ES201330537A Active ES2508990B1 (en) 2013-04-16 2013-04-16 GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM.

Country Status (1)

Country Link
ES (1) ES2508990B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106064378A (en) * 2016-06-07 2016-11-02 南方科技大学 A control method and device for a robotic arm of an unmanned aerial vehicle

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3036381B1 (en) * 2015-05-19 2017-05-12 Airbus Operations Sas FLYING DRONE
CN105014687A (en) * 2015-08-07 2015-11-04 东北电力大学 Mechanical arm with multi-rotor-wing unmanned aerial vehicle
CN105375398A (en) * 2015-12-21 2016-03-02 国网河南宝丰县供电公司 Device applied to fixed-point patrol and charged cleaning platform
EP3526119B1 (en) * 2016-10-13 2021-12-01 Alexander Poltorak Apparatus and method for balancing aircraft with robotic arms
JP6994406B2 (en) * 2018-02-23 2022-01-14 本田技研工業株式会社 Flying object
FR3083774B1 (en) * 2018-07-12 2022-04-29 Safran VERTICAL TAKE-OFF AND LANDING AIRCRAFT

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2270510B (en) * 1992-09-11 1996-07-17 Charles John Cochrane Lift device
DE102005012744A1 (en) * 2004-06-24 2006-04-06 Räder, Hermann Vertical take-off and landing aircraft used as a type of helicopter in the military comprises devices for shifting the center of gravity of the aircraft within a plane running normal to the rotary axis
US8251307B2 (en) * 2007-06-11 2012-08-28 Honeywell International Inc. Airborne manipulator system
FR2926787B1 (en) * 2008-01-29 2010-06-04 Jacques Joniot DRONE WITH SPHERICAL BODY AND TWO CONTROROTATIVE EQUATORIAL PROPELLERS, PILOT BY DISPLACEMENT OF A SOUTH-POLAR TROLLEY
US20110084162A1 (en) * 2009-10-09 2011-04-14 Honeywell International Inc. Autonomous Payload Parsing Management System and Structure for an Unmanned Aerial Vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106064378A (en) * 2016-06-07 2016-11-02 南方科技大学 A control method and device for a robotic arm of an unmanned aerial vehicle

Also Published As

Publication number Publication date
ES2508990A1 (en) 2014-10-16

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