论文标题
模块化多旋转器：从二次运动到完全驱动航空车辆
Modular Multi-Rotors: From Quadrotors to Fully-Actuated Aerial Vehicles
论文作者
论文摘要
由于其临时设计，传统的航空车被限制执行特定的任务。基于模块化，我们提出了一个多功能的机器人H-Modquad，可以通过增加其负载能力和启动自由度来适应不同的任务。它由用倾斜转子的四四个二极管推动的立方模块组成。我们介绍了两个模块设计系列，它们为空中系统带来了可扩展和多功能的驱动。通过配置多个模块，H-Modquad可以提高其有效载荷能力，并将其驱动的自由度从4和6更改。通过使用驱动椭圆形和扳手多面体对H-Modquad的驱动能力进行建模，我们发现车辆的车身最大化其推力效率。我们还将车辆功能与正式定义的任务要求进行比较。尽管使用了车辆设计，但我们介绍了H-Modquad的动态并整合了控制策略。使用实际机器人通过实验对设计和模型进行了验证，这表明具有不同配置的H-Modquad车辆提供了不同的致动特性。
Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated degrees of freedom. It is composed of cuboid modules propelled by quadrotors with tilted rotors. We present two families of module designs that bring scalable and versatile actuation to the aerial systems. By configuring multiple modules, H-ModQuad can increase its payload capacity and change its actuated degrees of freedom from 4 to 5 and 6. By modeling the actuation capability of H-ModQuad using actuation ellipsoids and wrench polytopes, we find the body frame of a vehicle that maximizes its thrusting efficiency. We also compare the vehicle capabilities against formally defined task requirements. We present the dynamics of H-ModQuad and integrate control strategies despite the vehicle design. The design and model are validated with experiments using actual robots, showing that H-ModQuad vehicles with different configurations provide different actuation properties.
