Aerial Torsional Work Utilizing a Multirotor UAV with Add-on Thrust Vectoring Device

Aerial manipulation aims to combine the versatility and the agility of aerial platforms with the manipulation capabilities of robotic arms. Their fast deployment allows for their implementation in maintenance tasks and support during disaster situations. However, the under-actuated nature of multirotor UAVs limits the magnitude and direction of the forces an aerial vehicle can safely exert during manipulation tasks. In this paper, the problems associated with UAVs and torsional tasks constraints regarding valve turning are addressed. An add-on thrust vectoring device which enhances manipulation options available to a conventional multirotor UAV is developed and described. The proposed system allows for a partial decoupling of the attitude and velocity vector of a multirotor. This permits stable translational flight and higher torque capabilities for torsional tasks. The separation of attitude and the velocity vector that allows for the design of a passive mechanism for valve operation is presented in this paper as well. The experimental results illustrate the forces and torques that can be generated in the evaluated operation modes.