A Novel Quadrotor With a 3-Axis Deformable Frame Using Tilting Motions of Parallel Link Modules Without Thrust Loss

DOI IR (HANDLE) PDF 2 Citations 16 References Open Access
  • Sakaguchi, Akinori
    Research Institute of Advanced Electric Propulsion Aircrafts, Kyushu University
  • Yamamoto, Kaoru
    Faculty of Information Science and Electrical Engineering, Kyushu University

Description

We propose a novel quadrotor with a 3-axis deformable frame using parallel link modules. By adding three servo motors to the frame, it has two configurations, namely, roll-pitch deformation mode and yaw deformation mode. In the roll-pitch deformation mode, it can tilt and fold the frame in the roll and pitch directions independently, which gives it 6 controllable degrees of freedom (CDOF). In the yaw deformation mode, it can contract the whole frame in the yaw direction. We propose a design method without thrust loss at any deformed state in both modes. In experiments, we show that it can fly stably even when deformed in both modes by the extended conventional control method. Furthermore, its applications are presented to demonstrate its high versatility.

Journal

Citations (2)*help

See more

References(16)*help

See more

Related Projects

See more

Keywords

Details 詳細情報について

Report a problem

Back to top