Solving the Direct Kinematics Problem of the Mechanical Manipulator of an Unmanned Aircraft

The study objective is designing and controlling the configuration of a manipulator mounted on an unmanned aerial vehicle intended for certain rescue operations. The objective stated is reduced to solving direct kinematic problems. The apparatus of homogeneous transformation matrices and the description of generalized manipulator configuration characteristics represented by the Denavit-Hartenberg parameters are used. For the considered manipulator, the direct problem of kinematics is solved. The authors proposed the configuration of the manipulator. The study includes the determination of the generalized characteristics of the working body and its parent segments, as well as the orientation and spatial positioning of the intermediate effector (in particular, the rotary link of the manipulator forearm) and its parent segments, followed by the orientation and positioning of its child segments (including the working body of the manipulator). It allows optimally configuring the manipulator links with the consideration of particular rescue operation conditions.