Abstract: This paper presents a new numeric estimation for dynamic performance of fully-actuated UAV platforms with nonparallel actuation mechanisms. Multi-rotor UAV designs with tilted rotors can achieve fully-actuated performance (net thrust that spans the 6-DoF force-torque space) by tilting the rotors in both cant and dihedral. These orthogonal rotations have different implications on the intrinsic stability of the platform. A numeric estimation of the multi-rotor performances is proposed with an optimization approach to configure the nonparallel thrusters with respect to desired tasks. The new model is applied to Purdues Dexterous Hexrotor UAV and CyPhy Works LVL 1 platform, to illustrate the multi-rotor estimation and optimization. Estimation of these fully-actuated UAVs include precise physical interaction with the environment (Dexterous Hexrotor), hovering efficiency, and influence operating altitude. Experimental results are presented to validate the optimized result with a contact based force control task in preparation for a demo at the DOE Gaseous Diffusion Plant.
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机译:摘要:本文提出了具有非平行驱动机制的全启动无人机平台动态性能的新数值估计。具有倾斜转子的多转子UAV设计可以通过在无法和二面向运动中倾斜转子来实现完全致动的性能(循环6-DOF力扭矩空间的净推力)。这些正交的旋转对平台的内在稳定性具有不同的影响。提出了多转子性能的数值估计,利用优化方法来配置关于所需任务的非平行推进器。新型号适用于Purdues Dexterous Hexrotor UAV和Cyphy Works LVL 1平台,以说明多转子估计和优化。这些充分致动的无人机的估计包括与环境(Dexterous Hexrotor),悬停效率和影响操作高度的精确物理相互作用。提出了实验结果以验证具有基于接触的力控制任务的优化结果,用于制备DOE气态扩散厂的演示。
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