FOLLY Deployment Mechanism
Abstract
In this paper, we will present a self-foldable and self-deployable autonomous quadcopter, named as Folly. Folly is deployable to autonomous systems effortlessly as it is close-packed, mobile and has a self-arm management. In the design of self-arm management, we utilized a four- bar crank-rocker mechanism that is actuated by a single servo motor and coupled with spur gears that allow Folly to automatically fold and deploy its arms in a short period time, 0.6 s. The crank- rocker mechanism employed is scrutinized for position, velocity and acceleration kinematics to establish an efficient design. In addition, torque characteristics of the mechanism are analyzed numerically and collated with dynamic simulation to ensure desirable power transmission rates. Moreover, as a new approach, to deal with vibration effects in morphologic quadcopters, the frame material of Folly is selected to be acrylic.
Turcan Tuna
PhD Candidate at Robotic Systems Lab, ETH Zurich
My research mainly focuses on incorporating state-of-the-art optimization and machine learning approaches into robust localization and mapping frameworks. Specifically, I specialize in robust localization and perception in degenerate and challenging environments utilizing optimization and learning based methods. Additionally, I am highly interested in multi-modal fast volumetric mapping and efficient and consistent local and global representations.