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Hardware prototypes of the over-actuated UAV platforms. The central frame is a rigid body made by carbon-fiber tubes and 3-D printed parts. Commercial quadcopter Crazyflie 2.1 from Bitcraze is combined with 3-D printed 2-DoF passive gimbal mechanism as the 3-DoF thrust generator. The platforms have (a) four and (b) six thrust generators, respectively. Motor, propellers, and batteries are upgraded to generate larger thrust forces.

Hardware prototypes of the over-actuated UAV platforms. The central frame is a rigid body made by carbon-fiber tubes and 3-D printed parts. Commercial quadcopter Crazyflie 2.1 from Bitcraze is combined with 3-D printed 2-DoF passive gimbal mechanism as the 3-DoF thrust generator. The platforms have (a) four and (b) six thrust generators, respectively. Motor, propellers, and batteries are upgraded to generate larger thrust forces.

Source publication
Conference Paper
Full-text available
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing unde- sired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexi...

Context in source publication

Context 1
... shown in Fig. 5, the quadcopters are connected to the central frame by 2-DoF passive gimbal mechanism, which have no rotation-angle limitations, thus can be utilized as 3-DoF thrust generators. We use Crazyflie 2.1 as the quadcopter module. The weight of Crazyflie 2.1 is 27g with a maximum 60g total payload. For the platform with four 3-DoF thrust ...

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... However, the limited range of the tensioned cables or spherical joints used to connect quadcopters and the tool frame significantly constrains the achievable attitudes. Our group has proposed modular vectored thrust units made of quadcopters and passive mechanisms without angle range limits or constraints for two realizations, one DoF hinge [28,29] or two DoF gimbal [30,31,32]. These modular vectored thrust units overcome the constraints of the limited orientations between the quadcopters and the main frame in [25,26,27], and enable creating new multirotor aerial platforms for unique capabilities and performance. ...
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