Fig. 2: Overview of AET’s mechatronics system.
From: A dexterous and compliant aerial continuum manipulator for cluttered and constrained environments
a Appearance diagram of AET with the mechanical design of the manipulator’s torso which is divided into three sections. A simple bending motion which is actuated by inside tendons, is shown beside AET. b Components description of computing devices and electronics modules. c Detailed mechanical description of the mid disks and end disks with the arm’s IMUs. d Mechanical design of the manipulator’s actuation system, whose base contains six tendon motors with shafts and winding reels. Each tendon motor drives a pair of diagonal tendons, which are marked with green, blue, and red colors pointing to different sections.
