Hovering of MAV by using magnetic adhesion and winch mechanisms

Kazuaki Yanagimura, Kazunori Ohno, Yoshito Okada, Eijiro Takeuchi, Satoshi Tadokoro

Research output: Contribution to journalConference articlepeer-review

13 Citations (Scopus)


We propose a method by which a micro air vehicle (MAV) can hover without propulsion power. In this paper, we describe the design of a magnetic adhesion mechanism and a winch mechanism for an MAV that is used to perform search operations inside buildings. An MAV equipped with these mechanisms can adhere to an iron ceiling and search for a long time from an appropriate position. We designed a magnetic adhesion mechanism with an adhesion force of over 20 N. The magnetic adhesion mechanism comprises a magnet, dual coil springs, and a switching mechanism. Using models of MAV and the adhesion mechanism, we determined the parameters of the mechanism. The magnetic adhesion mechanism can be detached easily by a force less than the magnetic adhesion force. The winch mechanism comprises a structure to retriev the adhesion mechanism, a strong, lightweight tether and a servo-motor that produces enough torque to lift the MAV by the tether. We confirmed that the MAV can hover without propulsion power by using these mechanisms.

Original languageEnglish
Article number6907781
Pages (from-to)6250-6257
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2014 Sep 22
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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