平行六面体構造を用いた2軸チルトフレームを有するチルト型クアッドロータ

抄録

The conventional quadrotor with non-tilting parts has only 4 DoF (Degrees of Freedom) because of the underactuated systems that have less control inputs than degrees of freedom. To overcome the constraints, a quadrotor with tilting rotors has been proposed. However, there are a loss of thrusts due to the tilt of the rotors and a decrease in maintenance due to additional four servo motors. In this paper, we propose a novel quadrotor with a dual-axis tilting frame using a parallelepiped mechanism. Using its parallelepiped mechanism, it has 6 DoF, that is, it can tilt its frame in the roll and the pitch direction independently by actuating only additional two servo motors. Also, it has same efficiency as the conventional quadrotor since all rotor surfaces are always kept parallel by the dual-axis tilting mechanism. Furthermore, we show a design procedure for the mechanism that achieves the given maximum folding ratio without the rotor overlapping vertically in any transformation state. In flight experiments, we confirm that it is capable of hovering at a desired position and translational motion in a desired circular trajectory with the dual-axis transformation in the roll and the pitch direction.