Geranos: a Novel Tilted-Rotors Aerial Robot for the Transportation of Poles
CoRR(2023)
摘要
In challenging terrains, constructing structures such as antennas and
cable-car masts often requires the use of helicopters to transport loads via
ropes. The swinging of the load, exacerbated by wind, impairs positioning
accuracy, therefore necessitating precise manual placement by ground crews.
This increases costs and risk of injuries. Challenging this paradigm, we
present Geranos: a specialized multirotor Unmanned Aerial Vehicle (UAV)
designed to enhance aerial transportation and assembly. Geranos demonstrates
exceptional prowess in accurately positioning vertical poles, achieving this
through an innovative integration of load transport and precision. Its unique
ring design mitigates the impact of high pole inertia, while a lightweight
two-part grasping mechanism ensures secure load attachment without active
force. With four primary propellers countering gravity and four auxiliary ones
enhancing lateral precision, Geranos achieves comprehensive position and
attitude control around hovering. Our experimental demonstration mimicking
antenna/cable-car mast installations showcases Geranos ability in stacking
poles (3 kg, 2 m long) with remarkable sub-5 cm placement accuracy, without the
need of human manual intervention.
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