A Novel Quadrotor With a 3-Axis Deformable Frame Using Tilting Motions of Parallel Link Modules Without Thrust Loss
A Novel Quadrotor With a 3-Axis Deformable Frame Using Tilting Motions of Parallel Link Modules Without Thrust Loss
复制标题
一种新型三轴变形框架四旋翼飞行器，利用平行连杆模块进行无推力损失的倾斜运动
DOI：
10.1109/lra.2022.3191195
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发表时间：
2022
影响因子：
5.2
通讯作者：
Yamamoto Kaoru
中科院分区：
文献类型：
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作者：
Sakaguchi Akinori;Yamamoto Kaoru
我们提出了一种新的四旋翼与3轴变形框架使用平行链接模块。通过在机架上增加三个伺服电机，使其具有两种变形模式，即横摇-俯仰变形模式和偏航变形模式。在侧倾-俯仰变形模式下，它可以独立地在侧倾和俯仰方向上倾斜和折叠框架，这使其具有6个可控自由度（CDOF）。在偏航变形模式下，它可以使整个车架在偏航方向上收缩。我们提出了一种在两种模式下的任何变形状态下都没有推力损失的设计方法。在实验中，我们表明，它可以稳定飞行，即使在两种模式下变形的扩展常规控制方法。此外，它的应用程序，以证明其高度的通用性。
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.