This paper presents the design of the Interacting-BoomCopter (I-BoomCopter) unmanned aerial vehicle (UAV) for mounting a remote sensor package on a vertical surface. Critical to the design is the novel, custom, light-weight passive end-effector. The end-effector has a forward-facing sonar sensor and in-line force sensor to enable autonomous sensor mounting tasks. The I-BoomCopter’s front boom is equipped with a horizontally-mounted propeller which can provide forward and reverse thrust with zero roll and pitch angles. The design and modeling of the updated I-BoomCopter platform is presented along with prototype flight test results. A teleoperated wireless camera sensor mounting task examines the updated platform’s suitability for mounting remote sensor packages.
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ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 6–9, 2017
Cleveland, Ohio, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5818-9
PROCEEDINGS PAPER
Design of the I-BoomCopter UAV for Remote Sensor Mounting
Daniel R. McArthur,
Daniel R. McArthur
Purdue University, West Lafayette, IN
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Arindam B. Chowdhury,
Arindam B. Chowdhury
Purdue University, West Lafayette, IN
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David J. Cappelleri
David J. Cappelleri
Purdue University, West Lafayette, IN
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Daniel R. McArthur
Purdue University, West Lafayette, IN
Arindam B. Chowdhury
Purdue University, West Lafayette, IN
David J. Cappelleri
Purdue University, West Lafayette, IN
Paper No:
DETC2017-67913, V05BT08A018; 10 pages
Published Online:
November 3, 2017
Citation
McArthur, DR, Chowdhury, AB, & Cappelleri, DJ. "Design of the I-BoomCopter UAV for Remote Sensor Mounting." Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5B: 41st Mechanisms and Robotics Conference. Cleveland, Ohio, USA. August 6–9, 2017. V05BT08A018. ASME. https://doi.org/10.1115/DETC2017-67913
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