Pre-production Design of a Robotic Arm Mounted on an Unmanned Aerial Vehicle (UAV)

Bakirci M., Demiray A.

International Conference on Computing, Intelligence and Data Analytics, ICCIDA 2022, Kocaeli, Turkey, 16 - 17 September 2022, vol.643 LNNS, pp.67-77 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 643 LNNS
  • Doi Number: 10.1007/978-3-031-27099-4_6
  • City: Kocaeli
  • Country: Turkey
  • Page Numbers: pp.67-77
  • Keywords: Conceptual design, Kinematic model, Robotic arm, Strength analysis, Unmanned aerial vehicle
  • Istanbul Technical University Affiliated: Yes


It has been demonstrated through many applications that unmanned aerial vehicles, which have been enhanced with various equipment and whose performance has been increased, can perform more effective tasks. Considering the results of these successful applications, the further development of unmanned aerial vehicles with new equipment has recently gained momentum. Among these development studies, the integration of robotic systems in particular is of critical importance. In this study, a robotic arm design is presented to be mounted on unmanned aerial vehicles and used in a wide variety of critical missions. The geometric design of the robotic arm, which is adjusted to be integrated under the fuselage of a rotary wing aircraft, was carried out considering the geometrical characteristics of the unmanned system. The weight-to-load ratio of the robotic arm was arranged as 1 and the motors were selected accordingly. The limits of the geometric design were determined based on the system requirements. Within the scope of the kinematic model of the robotic arm, the general transformation matrix is also obtained based on all its joints and links.