Tilt-X: Enabling Compliant Aerial Manipulation through a Tiltable-Extensible Continuum Manipulator

TL;DR

Tilt-X introduces a tiltable, extensible continuum arm for aerial robots, expanding manipulation directions and reducing propeller downwash effects, validated through flight tests and pose accuracy measurements.

Contribution

The paper presents a novel tiltable-extensible continuum manipulator design for aerial vehicles, enhancing workspace and interaction capabilities beyond existing solutions.

Findings

Enables volumetric workspace with 75 mm extension

Achieves stable end effector pose outside propeller downwash

Provides quantitative data on pose accuracy with and without downwash

Abstract

Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and compliant interaction opportunities. Existing designs allow manipulation only below the UAV which restricts their deployability in multiple directions and through clutter. They are also sensitive to propeller downwash. Addressing these limitations, we present Tilt-X, a continuum arm aerial manipulator that integrates a tilting mechanism, a telescopic stage, and a cable-driven continuum section. We present its design and kinematic model and validate it through flight demonstrations. Tilt-X enables a volumetric workspace with up to 75 mm extension and planar orientations between 0$^\circ$ to 90$^\circ$. Experiments comparing end effector pose with and without downwash quantitatively measure its accuracy, providing critical evidence to guide the design and control of reliable aerial manipulators. Results show stabilisation of end effector pose as the manipulator extends out of the propeller influence zone.