Development of Perching and Fail-Safe Module for Wall Climbing Multi-copter

Taewan Kim, Christian Tirtawardhana, Byeongho Yu, I Made Aswin Nahrendra, Seoktae Kim, Hyun Myung

Abstract: In recent years, various researches using UAVs (Unmanned Aerial Vehicles), especially multi-copter in various tasks, have been conducted due to their high mobility. Various perching mechanisms to perch the multi-copter onto the surface were developed for energy efficiency and to ensure safety while doing its tasks. However, developing mechanisms for multi-copter has limitations, such as limited payload. In this paper, we propose the perching and fail-safe module for the wall-climbing aerial robot “CAROS-Q” which can tilt its pose to perch on tilted surfaces. The proposed module consists of a passive perching mechanism with a specially designed suction cup to perch onto the surface safely, and a fail-safe mechanism to prevent falling from unexpected accidents. The prototype verifies the performance of the proposed module.