Aerial manipulators are increasingly used in contact-based industrial applications, where tasks like drilling and pushing require platforms to exert significant forces in multiple directions. To enhance force generation capabilities, various approaches, such as thrust vectoring and perching, have been explored. In this article, we introduce a novel approach by investigating the impact of varied CoM (Center of Mass) locations on an aerial manipulation system's force exertion. Our proposed platform features a design with a dynamically displacing CoM, enabling a smooth transition between free flight and high-force interactions supported by tilting back rotors. We provide detailed modeling and control strategies for this design and validate its feasibility through a series of physical experiments. In a pushing task, the proposed system, weighing 3.12kg, was able to stably exert over 28N of force on a work surface-nearly equivalent to its gravitational force-achieved solely through the tilting of its back rotors. Additionally, we introduce a new factor to evaluate the force generation capabilities of aerial platforms, allowing for a quantitative comparison with state-of-the-art systems, which demonstrates the advantages of our proposed approach.

翻译：飞行机械臂在基于接触的工业应用中日益普及，其中钻孔和推压等任务要求平台能够在多个方向施加显著作用力。为增强力生成能力，学界已探索了多种方法，如推力矢量控制与栖息式作业。本文通过研究不同质心位置对飞行操控系统施力能力的影响，提出了一种创新方法。我们设计的平台采用动态位移质心结构，通过后旋翼倾斜支撑，实现了自由飞行与高力交互模式间的平稳切换。本文详细阐述了该设计的建模与控制策略，并通过系列物理实验验证了其可行性。在推压任务中，该重3.12kg的系统仅通过后旋翼倾斜，即可在工作面上稳定施加超过28N的作用力——近乎等同于其自身重力。此外，我们引入了一项评估飞行平台力生成能力的新指标，通过与前沿系统的定量对比，证明了所提方法的优越性。