Classification and Structural Evaluation of Fully-Actuated Hexrotor UAVs
Classification and Structural Evaluation of Fully-Actuated Hexrotor UAVs
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DOI：
10.23919/acc.2018.8431700
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
Yuichi Tadokoro;Tatsuya Ibuki;M. Sampei
中科院分区：
文献类型：
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作者：
Yuichi Tadokoro;Tatsuya Ibuki;M. Sampei
本文提出了一种对全驱动六旋翼无人机加速度特性进行分类和理解的分类法。首先，定义了两类特殊的六旋翼结构：对称共面倾斜转子（SCTR）结构和平行共面倾斜转子（PCTR）结构。相关研究表明，许多结构可分为这两类。此外，利用动态可操纵性可以对六旋翼结构的加速度特性进行分析和可视化。动态可操纵性椭球体能够评估飞行器运动的方向特性，适合于设计各种空中操纵任务的全驱动六旋翼。
This paper presents a kind of taxonomy to classify and understand the acceleration characteristics of fully-actuated hexrotor unmanned aerial vehicles. First, two special classes of hexrotor structures are defined: symmetric-coplanar-tilted-rotor (SCTR) structure and parallel-coplanar-tilted-rotor (PCTR) structure. It is shown that many of structures from related research can be classified into the two types. Moreover, the acceleration characteristics of hexrotor structures can be analyzed and visualized using dynamic manipulability. The dynamic manipulability ellipsoids enable to evaluate the directional characteristics of the vehicle motion, and it is suited to the design of the fully-actuated hexrotor for each aerial manipulation task.