Influence of Tilting Rotors on Maneuverability and Agility Indicators of an H -shaped Quadrator

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI:10.1109/ICRoM48714.2019.9071808

Yalda Aslani Darandashi, Hadi Najd, Rasul Fesharakifard, A. Ohadi, H. Ghafarirad

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Abstract

This article investigates flight functionality indicators for H-shaped quadrotors with different tilting angles of rotors. Two major indicators that determine the dynamic functionality of a quadrotor are maneuverability and agility. These indicators are used to determine the performance of different structures of quadrotor in terms of ease of complex motions and response quickness. Three different configuration of H-shaped quadrotor composed of conventional quadrotor, quadrotor by rotors tilted inward and quadrotor by rotors tilted outward is compared using the mentioned indicators by numerical simulation. The results indicate some noticeable improvement in functionality of the quadrotor as the rotors are titled. More descriptions about the effect of tilting the rotors inward or outward around two lateral axis of x and y are given that permits to find a proper structure for a desired functionality. Finally, a comparison between three new selected configurations by the aim of increasing maneuverability and agility around all directions, is performed for results verification.

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倾转旋翼对H型正交器机动性和敏捷性指标的影响

本文研究了不同旋翼倾斜角的h型四旋翼机的飞行功能指标。决定四旋翼飞行器动态功能的两个主要指标是机动性和敏捷性。这些指标用于确定不同结构的四旋翼飞行器在复杂运动的容易程度和响应速度方面的性能。利用上述指标对传统四旋翼、向内倾斜四旋翼和向外倾斜四旋翼三种不同构型的h型四旋翼进行了数值模拟比较。结果表明，一些显著的改进功能的四旋翼作为旋翼标题。关于围绕x和y的两个横向轴向内或向外倾斜转子的效果，给出了更多的描述，允许找到一个适当的结构，以实现所需的功能。最后，以提高各方向机动性和敏捷性为目的，对新选择的三种构型进行了比较，以验证结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2019 7th International Conference on Robotics and Mechatronics (ICRoM)

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