書誌事項
- タイトル別名
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- Dynamic Manipulability Analysis and Design Optimization of a Fully-actuated Hexrotor UAV with Symmetric-coplanar-tilted-rotor Structure
- タイショウ ヘイメン ケイシャ ロータ コウゾウ オ モツ ヘキサロータガタ ゼン クドウ UAV ノ ドウテキ カ ソウサセイ カイセキ ト セッケイ サイテキカ
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抄録
This paper tackles dynamic manipulability analysis and design optimization of a fully-actuated hexrotor unmanned aerial vehicle. First, a dynamical model of the hexrotor is presented. The model is then analyzed to prove that nonplanar hexrotor structure can be approximately simplified and transformed into planar rotor arrangement. Based on the fact, symmetric-coplanar-tilted-rotor (SCTR) structure is introduced as a kind of canonical structure of hexrotors. Moreover, dynamic manipulability measure (DMM) of the hexrotor is newly defined to analyze its maneuverability, and DMM of the hexrotor with SCTR structure is found suitable for performance evaluation of the structure. Finally, based on the analysis, a design optimization method for the hexrotor is presented, and numerical examples are shown.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 53 (8), 480-489, 2017
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204508557056
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- NII論文ID
- 130005936853
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 028470767
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可