Hybrid Robotic Arm for Autonomous Aerial Refueling
Abstract Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat capabilities. Current research on autonomous refueling focuses mainly on flight control laws, with little attention to the automation of refueling pipes. This leads to high demands on control l...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2024-12-01
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| Series: | Chinese Journal of Mechanical Engineering |
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| Online Access: | https://doi.org/10.1186/s10033-024-01150-1 |
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| author | Kaixuan Li Gangfeng Liu Yongsheng Gao Jie Zhao |
| author_facet | Kaixuan Li Gangfeng Liu Yongsheng Gao Jie Zhao |
| author_sort | Kaixuan Li |
| collection | DOAJ |
| description | Abstract Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat capabilities. Current research on autonomous refueling focuses mainly on flight control laws, with little attention to the automation of refueling pipes. This leads to high demands on control law performance and navigation accuracy, making it difficult to ensure reliability. To address this, we propose a robotic arm system capable of automatic docking during the flexible aerial refueling process. The system uses a conical kinematic space configuration, offering enhanced stability and impact resistance. The frame-type structure achieves a lightweight design. Additionally, we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm (GA) for their optimization. We also propose a trajectory-fitting calibration theory based on the robotic arm’s special configuration and complete its movement accuracy calibration using a laser tracker. This calibration method reduces the robotic arm’s motion error by 71%, achieving an absolute positioning accuracy better than 3.5 mm, which meets the requirements for autonomous aerial refueling. In summary, this research presents a hybrid robotic arm that meets automatic docking requirements, offering a new approach to autonomous aerial refueling. |
| format | Article |
| id | doaj-art-a12fae4e8464467ebe29bc285d43ede0 |
| institution | OA Journals |
| issn | 2192-8258 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj-art-a12fae4e8464467ebe29bc285d43ede02025-08-20T01:59:40ZengSpringerOpenChinese Journal of Mechanical Engineering2192-82582024-12-0137111210.1186/s10033-024-01150-1Hybrid Robotic Arm for Autonomous Aerial RefuelingKaixuan Li0Gangfeng Liu1Yongsheng Gao2Jie Zhao3State Key Laboratory of Robotics and Systems, Harbin Institute of TechnologyState Key Laboratory of Robotics and Systems, Harbin Institute of TechnologyState Key Laboratory of Robotics and Systems, Harbin Institute of TechnologyState Key Laboratory of Robotics and Systems, Harbin Institute of TechnologyAbstract Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat capabilities. Current research on autonomous refueling focuses mainly on flight control laws, with little attention to the automation of refueling pipes. This leads to high demands on control law performance and navigation accuracy, making it difficult to ensure reliability. To address this, we propose a robotic arm system capable of automatic docking during the flexible aerial refueling process. The system uses a conical kinematic space configuration, offering enhanced stability and impact resistance. The frame-type structure achieves a lightweight design. Additionally, we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm (GA) for their optimization. We also propose a trajectory-fitting calibration theory based on the robotic arm’s special configuration and complete its movement accuracy calibration using a laser tracker. This calibration method reduces the robotic arm’s motion error by 71%, achieving an absolute positioning accuracy better than 3.5 mm, which meets the requirements for autonomous aerial refueling. In summary, this research presents a hybrid robotic arm that meets automatic docking requirements, offering a new approach to autonomous aerial refueling.https://doi.org/10.1186/s10033-024-01150-1Autonomous aerial refuelingConical kinematic space configurationOptimization of structural designCalibration method |
| spellingShingle | Kaixuan Li Gangfeng Liu Yongsheng Gao Jie Zhao Hybrid Robotic Arm for Autonomous Aerial Refueling Chinese Journal of Mechanical Engineering Autonomous aerial refueling Conical kinematic space configuration Optimization of structural design Calibration method |
| title | Hybrid Robotic Arm for Autonomous Aerial Refueling |
| title_full | Hybrid Robotic Arm for Autonomous Aerial Refueling |
| title_fullStr | Hybrid Robotic Arm for Autonomous Aerial Refueling |
| title_full_unstemmed | Hybrid Robotic Arm for Autonomous Aerial Refueling |
| title_short | Hybrid Robotic Arm for Autonomous Aerial Refueling |
| title_sort | hybrid robotic arm for autonomous aerial refueling |
| topic | Autonomous aerial refueling Conical kinematic space configuration Optimization of structural design Calibration method |
| url | https://doi.org/10.1186/s10033-024-01150-1 |
| work_keys_str_mv | AT kaixuanli hybridroboticarmforautonomousaerialrefueling AT gangfengliu hybridroboticarmforautonomousaerialrefueling AT yongshenggao hybridroboticarmforautonomousaerialrefueling AT jiezhao hybridroboticarmforautonomousaerialrefueling |