Integration of a Variable Stiffness Link for Long-Reach Aerial Manipulation

摘要

This paper presents the integration of a Variable Stiffness Link (VSL) for long-reach aerial manipulation, enabling adaptable mechanical coupling between an aerial multirotor platform and a dual-arm manipulator. Conventional long-reach manipulation systems rely on rigid or cable connections, which limit precision or transmit disturbances to the aerial vehicle. The proposed VSL introduces an adjustable stiffness mechanism that allows the link to behave either as a flexible rope or as a rigid rod, depending on task requirements. The system is mounted on a quadrotor equipped with the LiCAS dual-arm manipulator and evaluated through teleoperated experiments, involving external disturbances and parcel transportation tasks. Results demonstrate that varying the link stiffness significantly modifies the dynamic interaction between the UAV and the payload. The flexible configuration attenuates external impacts and aerodynamic perturbations, while the rigid configuration improves positional accuracy during manipulation phases. These results confirm that VSL enhances versatility and safety, providing a controllable trade-off between compliance and precision. Future work will focus on autonomous stiffness regulation, multi-rope configurations, cooperative aerial manipulation and user studies to further assess its impact on teleoperated and semi-autonomous aerial tasks.