A Novel Quadrotor with a 3-axis Deformable Frame
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We propose a novel quadrotor with a 3-axis deformable frame using parallel link modules. By adding three servo motors to the frame, it has two configurations, namely, roll-pitch deformation mode and yaw deformation mode. In the roll-pitch deformation mode, it can tilt and fold the frame in the roll and pitch directions independently, which gives it 6 controllable degrees of freedom (CDOF). In the yaw deformation mode, it can contract the whole frame in the yaw direction. We propose a design method without thrust loss at any deformed state in both modes. In experiments, we show that it can fly stably even when deformed in both modes by the extended conventional control method. Furthermore, its applications are presented to demonstrate its high versatility.
Roll-pitch deformation mode
Yaw deformation mode
Paper
Akinori Sakaguchi and Kaoru Yamamoto, ``A Novel Quadrotor with a 3-axis Deformable Frame using Tilting Motions of Parallel Link Modules without Thrust Loss,'' IEEE Robotics and Automation Letters (RA-L with IROS 2022 option), vol. 7, no. 4, pp. 9581-9588, 2022. SICE International Young Authors Award (SIYA-IROS2022) & The 2nd Japan Drone Consortium Award [link]
Akinori Sakaguchi and Kaoru Yamamoto, ``A Novel Quadrotor with a 3-axis Deformable Frame using Tilting Motions of Parallel Link Modules without Thrust Loss,'' IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
Akinori Sakaguchi and Kaoru Yamamoto, ``Proposal of a Drone with a 3-axis Deformable Frame using Parallel Link Modules,'' The 40th annual conference of the Robotics Society of Japan, 2022. The 3th Excellent Research and Technology Award
Summary
The video shows the experiments of the hovering at fixed deformed states and the hovering with continuous aerial deformations, and the applications: perching on three branches and transportation by grasping.
Experiments
Hovering at Fixed Deformed States
Conventional state.
Roll-only deformed state.
Pitch-only deformed state.
Independent roll-pitch deformed state.
Yaw deformed states.
Hovering with Continuous Aerial Deformations
Circling with Continuous Aerial Deformations
Roll-only, pitch-only, independent roll-pitch, and yaw deformations.
Roll-only, pitch-only, independent roll-pitch, and yaw deformations.
Applications
Perchings
Perching on a horizontal cantilever branch.
Perching on a horizontal fixed-end branch.
Perching on a vertical cantilever branch.
Transportations
Transportation by grasping.
Transportation by grasping and releasing.
Transportation by placing on V-shaped groove.
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