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Design Innovation Paper

Design of the I-BoomCopter UAV for Remote Sensor Mounting

[+] Author and Article Information
Daniel McArthur

Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, Indiana 47907
dmcarth@purdue.edu

Arindam Chowdhury

Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, Indiana 47907
abhanjac@purdue.edu

David J. Cappelleri

Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, Indiana 47907
dcappell@purdue.edu

1Corresponding author.

ASME doi:10.1115/1.4038973 History: Received September 21, 2017; Revised December 17, 2017

Abstract

This paper presents the design of the Interacting-BoomCopter (I-BoomCopter) unmanned aerial vehicle (UAV) for mounting a remote sensor package on a vertical surface. Critical to the design is the novel, custom, lightweight passive end-effector. The end-effector has a forward facing sonar sensor and in-line force sensor to enable autonomous sensor mounting tasks. The I-BoomCopter's front boom is equipped with a horizontally-mounted propeller which can provide forward and reverse thrust with zero roll and pitch angles. The design and modeling of the updated I-BoomCopter platform is presented along with prototype flight test results. A teleoperated wireless camera sensor mounting task examines the updated platform's suitability for mounting remote sensor packages. Additionally, an autonomous control strategy for remote sensor mounting with I-BoomCopter is proposed and autonomous test flights demonstrate the efficacy of the approach.

Copyright (c) 2018 by ASME
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