FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction

2026-08-13

AI Summary

This work addresses the strong coupling between position and orientation in conventional underactuated aerial manipulators, as well as the structural complexity and insufficient torque output of existing fully actuated platforms, which hinder high-torque physical interaction. To overcome these limitations, the authors propose FAM-DQ, a fully actuated aerial manipulator based on a dual quadrotor configuration. The design features two quadrotor modules connected to a central frame via passive joints, augmented with a gear-servo mechanism that actively modulates thrust direction. This architecture enables decoupled six-degree-of-freedom control and omnidirectional manipulation while maintaining a lightweight structure. Experimental results demonstrate that FAM-DQ achieves a total mass of only 0.447 kg, delivers a maximum output torque of 1.019 N·m, and attains an exceptional torque-to-mass ratio of 2.28 N·m/kg, successfully executing high-torque tasks such as trajectory tracking, attitude regulation, and screw tightening.

Abstract

Aerial physical interaction requires aerial manipulation platforms to generate large interaction forces and torques while maintaining precise end-effector control. However, conventional underactuated aerial manipulators suffer from strong position-attitude coupling, whereas fully actuated platform designs often face structural complexity, limited payload capacity, and insufficient torque output. This paper presents FAM-DQ, a dual-quadrotor based fully actuated aerial manipulator designed for high-torque physical interaction tasks. By mounting two quadrotor propulsion modules at the ends of a central frame through passive joints, while using a gear-driven servo to regulate the pointing direction, FAM-DQ achieves decoupled $6$-DoF end-effector control with omnidirectional manipulation capability and enhanced torque output. Experiments including trajectory tracking, attitude tracking, static torque measurement, and screw driving validate the proposed design. FAM-DQ achieves a maximum torque of $1.019~\mathrm{N}\cdot\mathrm{m}$ with a total mass of $0.447~\mathrm{kg}$, corresponding to a torque-to-mass ratio of $2.28~\mathrm{N}\cdot\mathrm{m/kg}$.

Problem

• aerial manipulation
• fully actuated
• high-torque interaction
• torque output
• position-attitude coupling

Innovation

• fully actuated aerial manipulator
• dual-quadrotor
• high-torque interaction
• 6-DoF decoupled control
• torque-to-mass ratio