Project Description
This project focuses on the design, development, and evaluation of a cm-scale latch-mediated spring actuation (LaMSA) projectile launcher for small-scale tethered operations on unmanned aerial vehicles (UAVs). Tethered projectiles enable robots to attach themselves to their environment, enabling climbing, rappelling, and hanging operations that are difficult to achieve using conventional propulsion methods. However, such capabilities are currently limited at the cm-scale due to power and weight constraints.
The LaMSA projectile launcher is constructed using SLA-printed plastic and carbon fiber rods, ensuring it is lightweight and suitable for mounting on cm-scale UAVs. The mechanism provides high energy density and is designed to deliver energy bursts exceeding the capabilities of similarly-sized conventional actuators. The project involves characterizing the launcher's performance and determining the necessary mechanical parameters for successful tethered projectile launch.
The launcher is mounted on top of a Crazyflie 2.1 miniature quadcopter, and its ability to expand the robot's mobility operations is evaluated by assessing its gripping and attaching capabilities to environmental features from a distance. By enabling perching, the lightweight mechanism addresses the endurance and range limitations of micro-aerial vehicles (MAVs) caused by energy challenges. Perching allows MAVs to rest while attached to surfaces, conserving energy and extending operational periods.
Current perching mechanisms in the literature tend to be larger and heavier than the proposed LaMSA projectile launcher. Therefore, this project aims to overcome these limitations by designing and evaluating a lightweight perching mechanism specifically tailored for mounting on MAVs. By developing a cm-scale tethered operation capability, the project seeks to enhance the functionality and endurance of small UAVs, opening up opportunities for various applications, including surveillance, inspection, package delivery, monitoring, and rescue.
