Autonomous Flight Control Adsorption Robot

Currently, developed countries have invested a lot of funding for researches on ground mobile robots, such as Bigdog and Packbot. as well as air flying robots. All have their own priorities and limitations.Therefore it will be provided with important research significance and theoretical value to perform researches on the mechanisms of a flying and adhesion robot.Inspired by the bat-like animals, the flying and adhesion robot is creatly advanced. The novel robot owns the ability of fly so that it can transfer for long distance and with the ability of adhesion so that it can be suspended on the coarse surface of tasked objects with all kinds of pose with low energy-consumption. A micro quadrotor and mini adhesion device are employed for the robot. The adhesion device is light-weight and high-efficient so that the developed robot has the advantage of both long distance flying with overcoming obstacles and long time stop with low energy consumption, which are strongly needed by various industries and military authorities in order to perform dangerous operations such as inspection of high-rise buildings and surveillance application.To deeply study the science issues surrounding the robot, various aspects in system design are discussed including several kinds of adhesion mechanisms, flying mechanisms, mechanical integration and controller design. And then the development of adhesion devices has been described,which are mainly based on vortex attraction technique and micro-pumps. Meanwhile, the more cutting-edge electrostatic adsorption was studied. To further improve the robot’s performance, the optimal design is discussed in this paper, which mainly includes adhesion mechanism optimization and geometry optimization. Several robot prototypes are presented and experiments were conducted on the robot, which verified the design concepts of the developed robot.During the switching between flying and adhesion, the normal flight control law will be completely failed in the constraints of external force, which is also easy to damage the robots. The purpose of this paper is to propose the novel contact force control approach to a bio-inspired flying and adhesion robot for interacting with the environment. Then the dynamical model of the bio-inspired robot is described, and impedance control is applied to regulate the contact force to the environment. The bio-inspired Hying and adhesion robot performs several phases of desired missions in the sequential manner. Firstly, the robot performs position control to approach to the desired perch position to make contact. Secondly, the robot contacts with the environment and regulate a constant force. Simulation studies of position and impedance force control performances and experiments we have performed verified the feasibility of the proposed control methods.Finally, based on the several developed flying and adhesion robot prototypes, many tests have been performed. According to the experimental results, many things have been done, such as adjusting the control parameters, further improving the robot structure and so on. And ultimately the robot has realized its flying and omni-directional adsorption by imitating the flying creatures.