Dynamic modeling of a multi-rotorcraft UAS with morphing capabilities

Vargas, Giovanny Ortega; Hintz, Christoph; Carrillo, Luis Rodolfo García; Palacios, Filiberto Munoz; Espinoza, Eduardo S.

doi:10.1109/icuas.2015.7152385

Cited by 9 publications

(5 citation statements)

References 7 publications

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“…• To develop a stable, light and reconfigurable structure • To develop a way for increasing yaw torque in the case of a weak air-craft TM • To develop air-crafts capable of variable controlled pitch/roll if this was necessary [95], [96] Safety:…”

Section: Mechanicsmentioning

confidence: 99%

Air-arm: A new kind of flying manipulator

Mendoza-Mendoza

Sepulveda-Cervantes²,

Aguilar-Ibáñez

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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We introduce a new kind of aerial manipulator based on multirotors. This device exploits the rarely used yaw movement which characterizes these aircrafts in order to generate and transmit forces and displacements trough a serial-chain of rigid links and other drones, as if the whole system was a flying robot arm with UAVS as rotational joints. Also we provide comparisons with the existing technologies and a condensed review concerning them. Finally, this paper proposes many open problems in order to develop the final system. Due to the scientific and social impact of this new approach, we provide some application examples.

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Section: Mechanicsmentioning

confidence: 99%

Air-arm: A new kind of flying manipulator

Mendoza-Mendoza

Sepulveda-Cervantes²,

Aguilar-Ibáñez

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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“…Vehicles that use a central actuator to change the angle of their arms in an X-shape are presented in [5] and [6], and a vehicle that uses four servomotors to change each arm angle is presented in [7] and extended in [8]. In [9] and [10], a quadcopter design is presented that is capable of using one or more actuators to reposition the propellers of the vehicle to be above one another such that the horizontal dimension of the vehicle is reduced. Similarly, Riviere et al [11] use a single actuator to reposition the propellers of the vehicle to be in a horizontal line, and demonstrates the vehicle being used to traverse a narrow gap.…”

Section: A Related Workmentioning

confidence: 99%

Design and Control of a Midair-Reconfigurable Quadcopter Using Unactuated Hinges

2023

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In this article, a novel quadcopter capable of changing shape midflight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accomplished without requiring actuators beyond the four motors typical of a quadcopter. Morphing is achieved through freely rotating hinges that allow the vehicle arms to fold downwards by either reducing or reversing thrust forces. Constraints placed on the control inputs of the vehicle prevent the arms from folding or unfolding unexpectedly. This allows for the use of existing quadcopter controllers and trajectory generation algorithms with only minimal added complexity. For our experimental vehicle at hover, we find that these constraints result in a 36% reduction of the maximum yaw torque the vehicle can produce, but do not result in a reduction of the maximum thrust or roll and pitch torques. Experimental results show that, for a typical maneuver, the added limits have a negligible effect on the trajectory tracking performance. Finally, the ability to change configurations is shown to enable the vehicle to traverse small passages, perch on hanging wires, and perform limited grasping tasks.

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“…The net deviation U(t,τ) of the geometric center will be calculated scalarly in equation (9). According to the mathematical relationship given below, the more vertical the rotational deflection occurs, the less the geometric center will eventually deviate due to the triangle inequality (Vargas et al , 2015). When the outer center of rotation settles near the geometric center instead of infinity, translational and rotational deflections do not coincide, and the net geometric center displacement decreases: …”

Section: Hover Stiffness Analysis Considering the Multicopters' Pendu...mentioning

confidence: 99%

“…The net deviation U(t,t) of the geometric center will be calculated scalarly in equation ( 9). According to the mathematical relationship given below, the more vertical the rotational deflection occurs, the less the geometric center will eventually deviate due to the triangle inequality (Vargas et al, 2015).…”

Section: Hover Stiffness Analysis Considering the Multicopters' Pendu...mentioning

confidence: 99%

The effects of dihedral angle on hover rigidity and planar maneuvers in rotary-wing UAVs

Kayatas

Çelik

2023

AEAT

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Purpose Any consensus about the effects of dihedral angle on hover rigidity of rotary-wing unmanned aerial vehicles (RW-UAVs) does not exist in the literature. There are researchers who state that the dihedral angle has an effect on flight stability and researchers who claim the opposite. The discord stems from the different approaches of these groups to the concept of “stability,” the fact that they conduct experiments whose measurements are largely influenced by environmental conditions, and the physical assumptions are not similar. On the other hand, there is no study examining the effect of dihedral angle on the maneuverability of drones either. This study aims to analytically reveal the consequences of dihedral angles in RW-UAVs in terms of flight agility and maneuverability. Design/methodology/approach Dihedral angle examinations on both hover rigidity and maneuverability are carried out analytically. Equations of motions for a multicopter’s rigid body with a dihedral angle under two different conditions (zero and nonzero dihedral angles) are derived. Numerical simulations are conducted by defining the simulation parameters, and then displacement graphics for the center of mass are interpreted. Findings The presence of a dihedral angle makes the multicopter platforms behave like a pendulum, and this pendulum motion affects the disturbance rejection and the planar maneuver capabilities of multicopters. Since deflections can be spread to the orthonormal axes thanks to rotation about a pivot, net deflections of the geometric center may be diminished. Besides, pendulum motion eases the maneuvers with yaw rotations since the required rotation might occur without rotors’ revolution per minute changes. Practical implications Proposed dihedral angle implementation may enhance the hover stiffness and maneuverability capabilities of multicopters which, in turn, raise the performance of the drones. Originality/value This paper presents the analytical basis for the dihedral angle's effects on flight stability and agility.

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Dynamic modeling of a multi-rotorcraft UAS with morphing capabilities

Cited by 9 publications

References 7 publications

Air-arm: A new kind of flying manipulator

Air-arm: A new kind of flying manipulator

Design and Control of a Midair-Reconfigurable Quadcopter Using Unactuated Hinges

The effects of dihedral angle on hover rigidity and planar maneuvers in rotary-wing UAVs

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