Design and experimental verification of a hoverable quadrotor composed of only clockwise rotors

Autor:	Takumi Ito, Riku Funada, Shunsuke Mochida, Takahiro Kawagoe, Tatsuya Ibuki, Mitsuji Sampei
Rok vydání:	2023
Předmět:	experimental verification Human-Computer Interaction aerospace control Hardware and Architecture Control and Systems Engineering design optimization Unmanned aerial vehicles Software Computer Science Applications
Zdroj:	Advanced Robotics. 37:667-678
ISSN:	1568-5535 0169-1864
Popis:	This paper presents a novel structure for a quadrotor, making it hover only with clockwise rotors, where we denote it as a 4P (Positive) rotor. We first investigate the condition for a 4P rotor to hover. More specifically, we conduct the hoverability analysis, which is closely related to the controllability analysis, and show that the tilting angles of each rotor are crucial conditions for the hoverability of the 4P rotor. The derived condition for the tilting angles is then utilized to present two prototypes. Each prototype is developed with the following design purposes: One is to reduce the horizontal force generated by the tilted rotors, and the other is to make its torque generation the same as that of a standard quadrotor. The hoverability and dynamical property of both prototype is demonstrated in simulations and experiments.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b7b12e92ff6afea245b5751b741c3ef0 https://doi.org/10.1080/01691864.2023.2185813 Zobrazit plný text záznamu Plný text ve formátu PDF Plný text ve formátu HTML
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