TY - GEN
T1 - Hovering of MAV by using magnetic adhesion and winch mechanisms
AU - Yanagimura, Kazuaki
AU - Ohno, Kazunori
AU - Okada, Yoshito
AU - Takeuchi, Eijiro
AU - Tadokoro, Satoshi
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - We propose a method by which a micro air vehicle (MAV) can hover without propulsion power. In this paper, we describe the design of a magnetic adhesion mechanism and a winch mechanism for an MAV that is used to perform search operations inside buildings. An MAV equipped with these mechanisms can adhere to an iron ceiling and search for a long time from an appropriate position. We designed a magnetic adhesion mechanism with an adhesion force of over 20 N. The magnetic adhesion mechanism comprises a magnet, dual coil springs, and a switching mechanism. Using models of MAV and the adhesion mechanism, we determined the parameters of the mechanism. The magnetic adhesion mechanism can be detached easily by a force less than the magnetic adhesion force. The winch mechanism comprises a structure to retriev the adhesion mechanism, a strong, lightweight tether and a servo-motor that produces enough torque to lift the MAV by the tether. We confirmed that the MAV can hover without propulsion power by using these mechanisms.
AB - We propose a method by which a micro air vehicle (MAV) can hover without propulsion power. In this paper, we describe the design of a magnetic adhesion mechanism and a winch mechanism for an MAV that is used to perform search operations inside buildings. An MAV equipped with these mechanisms can adhere to an iron ceiling and search for a long time from an appropriate position. We designed a magnetic adhesion mechanism with an adhesion force of over 20 N. The magnetic adhesion mechanism comprises a magnet, dual coil springs, and a switching mechanism. Using models of MAV and the adhesion mechanism, we determined the parameters of the mechanism. The magnetic adhesion mechanism can be detached easily by a force less than the magnetic adhesion force. The winch mechanism comprises a structure to retriev the adhesion mechanism, a strong, lightweight tether and a servo-motor that produces enough torque to lift the MAV by the tether. We confirmed that the MAV can hover without propulsion power by using these mechanisms.
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U2 - 10.1109/ICRA.2014.6907781
DO - 10.1109/ICRA.2014.6907781
M3 - Conference contribution
AN - SCOPUS:84929208297
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6250
EP - 6257
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -