ElbowQuad: Thrust Vectoring Quadcopter

Devlin, Trieste; Dickerhoff, Ryan; Durney, Kevin; Forrest, Aidan; Pansodtee, Pattawong; Adabi, Ali; Teodorescu, Mircea

doi:10.2514/6.2018-0893

Cited by 8 publications

(3 citation statements)

References 11 publications

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“…This control is tested for a simple trajectory in simulation to validate the decoupling between rotational and translational dynamics. A similar design to the latter was presented by Devlin et al (2018), with each propeller rotating independently in the tangential direction, thus obtaining again n u = 4 + 4. The platform is named ElbowQuad.…”

Section: Tangential Tilting Designsmentioning

confidence: 94%

Design of multirotor aerial vehicles: A taxonomy based on input allocation

Hamandi

Usai

Sablé

et al. 2021

The International Journal of Robotics Research

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This paper reviews the effect of multirotor aerial vehicle designs on their abilities in terms of tasks and system properties. We propose a general taxonomy to characterize and describe multirotor aerial vehicles and their designs, which we apply exhaustively on the vast literature available. Thanks to the systematic characterization of the designs, we exhibit groups of designs having the same abilities in terms of achievable tasks and system properties. In particular, we organize the literature review based on the number of atomic actuation units and we discuss global properties arising from their choice and spatial distribution in the mechanical designs. Finally, we provide a discussion on the common traits of the designs found in the literature and the main open and future problems.

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Section: Tangential Tilting Designsmentioning

confidence: 94%

Design of multirotor aerial vehicles: A taxonomy based on input allocation

Hamandi

Usai

Sablé

et al. 2021

The International Journal of Robotics Research

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“…Devlin et al [13] mentioned a rotary wing unmanned aerial vehicle with a servo motor in each arm. Thanks to this servo motor, each BLDC motor can rotate in an axis perpendicular to the arm.…”

Section: Introductionmentioning

confidence: 99%

“…8. UAV with an elbow-like rotating motor [13] These rotary-wing UAVs are not designed for a launch system and therefore cannot be launched.…”

Section: Introductionmentioning

confidence: 99%

Launchable rotary wing UAV designs and launch mechanism designs for rotary wing UAV

Gokbel¹,

Ersoy²

2021

J. mechatron., artif. intell., eng.

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In recent years, rotary-wing unmanned aerial vehicles have been used in many areas. Rotary wing unmanned aerial vehicle (UAV) can carry different payloads according to their duties. For example; if they carry cameras, they are used for reconnaissance / surveillance, cargo if they carry cargo, agriculture if they carry pesticides, mapping if they carry an advanced camera and mapping system, and communication if they carry a base station or relay. Rotary-wing unmanned aerial vehicles are usually commanded to take off manually by a trained UAV operator. Before takeoff, the rotary-wing unmanned aerial vehicle is prepared for take-off by the UAV operator and this preparation takes approximately five minutes. It takes time for rotary-wing unmanned aerial vehicles to take off from the runway and reach their cruising speed, causing time loss in critical areas. A rotary-wing unmanned aerial vehicle launch assembly and a rotary-wing unmanned aerial vehicle with an opening mechanism that can open the thrust arms after launch and continue to fly can be the solution to this time loss. Rotary-wing drones capable of launching and without the intervention of the UAV operator will play an important role in emergency response and defense, where situational awareness is often required. For example; firefighters responding to fires can take advantage of the ability to quickly launch rotary-wing unmanned aerial vehicles from a stationary or moving fire truck. Thanks to the day / thermal camera on the launched rotary wing unmanned aerial vehicles, valuable information can be obtained about the progress of the fire and the damage caused by the fire. Thanks to rapid awareness, the fire can be intervened and fought faster. Similarly, military personnel can quickly deploy launchable rotary-wing drones for reconnaissance and surveillance and perform their duties. In order to be applicable to various types of missions, it is important that the rotary wing unmanned aerial vehicle be portable and low in volume. Since the launchable rotary-wing unmanned aerial vehicle proposed in the thesis has an arm release mechanism after launch, it can automatically open and generate thrust after launching its arms. In this way, it helps lower volume coverage before being launched. This also reduces air friction during launch. It can be deployed to autonomous systems effortlessly as it has closed package, mobile and self-arm management. Different mechanisms will be studied to create an efficient design. A mechanism that allows it to open its arms in a short time will be used in the self-arm-opening management design. Throwable rotary wing unmanned aerial vehicle and launch mechanism will be designed and 3D printers will be used for prototype.

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Snake Aerial Manipulators: A Review

et al. 2020

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In this document, a review about snake aerial manipulators is presented. The most common mechatronical implications found in their design are described. The text is presented to the reader as a set of modules, this include topics about structural dynamics, aerodynamics, power and energy, propulsion, thrust-vectoring and level of autonomy of aircrafts, also highlights about use of sensors, control methods and flight schemes. INDEX TERMS Aerial manipulator, cooperative systems, UAS. I. INTRODUCTIONTo follow it is convenient to expose a brief introduction to coupled and decoupled task aerial manipulation concepts. Which are the basis of snake aerial manipulators. Both concepts are widely described in [1]-[5]. A. AERIAL MANIPULATION OF DECOUPLED AND COUPLED TASKS II. MECHANICAL CONSIDERATIONS, POWER AND AERODYNAMICS A. COMMON COMPONENTSGuiding element, base element, reference element or branching element: All these are synonymous and they are defined as a reference point from which at least 2 arms, also called kinematic chains, fork.Kinematic chain: successive union of engine elements (multicopters, individual propellers and/or motors) with elements of transmission or propagation of movement (bar linkages), by using connecting elements (joints or the motors by themselves).Engine elements: they are the multicopter aircraft or individual propellers which, in addition to allowing the hovering and flight of the whole system, produce the rotational movements necessary to transmit and propagate to more complex movements through the kinematic chains with or without the assistance of auxiliary motors. Table.2 TABLE 2. Kinds of engines for snake aerial manipulators.Elements of transmission or propagation: they are bar linkages that connect one drone to other or one propeller to other and allow the chained transmission of their rotations and translations Joint elements: the driving elements with the linkages are connected through joints. They allow the general mobility and the propagation or suppression of one or more relative movements. They could be any type of bearing, for example standard bearings, ball-joints (which particularly allows three-dimensional mobility), rigid bearings (like bronze bushings), restricted rotation bearings (that have no free rotation of yaw movement as a cardan joint or a locked ball-joint), magnetic joints, clutches (they allow a variable type connection), or even auxiliary motors by themselves according to the usage and design Damping elements: they are used to control or suppress unwanted movements such as bumps, and vibration or misalignment between the driving elements, the transmission elements and the joints. Examples are rubber shock-absorbers or flexible couplings Power elements: they allow the aircraft and the auxiliary engine elements to be energized. Examples are batteries, electrical extension cords, power cells, solar cells etc.

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ElbowQuad: Thrust Vectoring Quadcopter

Cited by 8 publications

References 11 publications

Design of multirotor aerial vehicles: A taxonomy based on input allocation

Design of multirotor aerial vehicles: A taxonomy based on input allocation

Launchable rotary wing UAV designs and launch mechanism designs for rotary wing UAV

Snake Aerial Manipulators: A Review

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