Construction of Multilinked Multirotor Aerial Robot with 1 DoF Thrust Vectorable Link Module and Fully Actuated Control with Aerial Transformation
Tomoki Anzai, Moju Zhao, Masaki Murooka, Fan Shi, Kei Okada, Masayuki Inaba · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2019
We present a novel fully actuated transformable multilinked aerial robot which consists of the link modules with 1 DoF thrust vectoring mechanism. Commonly used UAV is underactuated due to its simplicity and high flight duration, but can not control the position and orientation independently. To overcome this problem, fully actuated multirotor aerial robots have been developed. In this paper we propose a new design of link module which has a tilted rotor and 1 DoF thrust vectoring joint which enables to avoid singularity forms and keep the flight stable during transformation. Then we propose a transformation planning method utilizing the 1 DoF thrust vectoring angle with consideration of guaranteed minimum force/torque. Finally we perform an aerial transformation experiment with a real platform to demonstrate the feasibility of our proposed methods.