Fig 5 - Downwash-aware Control Allocation for Over-actuated UAV Platforms

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.

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Reference

Downwash-aware Control Allocation for Over-actuated UAV Platforms - Scientific Figure on ResearchGate. Available from: https://www.researchgate.net/figure/Hardware-prototypes-of-the-over-actuated-UAV-platforms-The-central-frame-is-a-rigid-body_fig2_363174040 [accessed 1 Feb, 2023]

Caption

Fig. 5: 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.

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<a href="https://www.researchgate.net/figure/Hardware-prototypes-of-the-over-actuated-UAV-platforms-The-central-frame-is-a-rigid-body_fig2_363174040"><img src="https://www.researchgate.net/profile/Yao-Su/publication/363174040/figure/fig2/AS:11431281082219884@1662025196694/Hardware-prototypes-of-the-over-actuated-UAV-platforms-The-central-frame-is-a-rigid-body.jpg" alt="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."/></a>