動的可操作度と最大並進加速度を考慮したヘキサロータの構造最適化

• 伊吹 竜也

  東京工業大学 工学院 システム制御系

• 木曽 勝之

  東京工業大学 大学院理工学研究科 機械制御システム専攻

• 安田 真大

  東京工業大学 大学院理工学研究科 機械制御システム専攻

• 三平 満司

  東京工業大学 工学院 システム制御系

書誌事項

タイトル別名

• Structural optimization of hexrotors: A dynamic manipulability and the maximum translational acceleration approach

抄録

This paper proposes a structural optimization method for a hexrotor. Structure here means the positions and orientations of the six rotors constituting the hexrotor. In the present optimization method, 6-DOF dynamic manipulability and the maximum translational acceleration are simultaneously considered as structural evaluation indices. The former is introduced as a common evaluation index for motion performance, and the latter with hope for payload flying against the gravity force. A special class of hexrotor structure is first proposed to make the optimization problem tractable, where 6-DOF dynamic manipulability can be provided by the simple product of translational manipulability and rotational one. Then, structual optimization problems are defined and a nonlinear optimization technique is applied. Here, the optimization problems handle two cases: (i) anti-torque of rotors and change of innertia tensor depending on structure are small enough to be neglected, or (ii) they are explicitly considered for structural optimization. Consequently, it is shown that the optimization provides strong symmetry.

収録刊行物

• 日本機械学会論文集

  日本機械学会論文集 83 (846), 16-00206-16-00206, 2017

  一般社団法人 日本機械学会

キーワード

• UAV
• Hexrotor
• Mechanical system
• Structural optimization
• Dynamic manipulability

詳細情報

• CRID: 1390001205515386240
• NII論文ID: 130005402094
• DOI: 10.1299/transjsme.16-00206
• ISSN: 21879761
• Web Site: https://www.jstage.jst.go.jp/article/transjsme/83/846/83_16-00206/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可