This paper tackles maneuverability analysis of a fully-actuated hexrotor unmanned aerial vehicle considering arrangement and tilt angles of rotors. First, symmetric coplanar tilted rotor structure is introduced as a canonical structure of a hexrotor. Then, the dynamical model is presented and dynamic manipulability measure of the hexrotor is used to analyze its maneuverability. Finally, as an example application of the analysis, design optimization problems of hexrotor are considered and the usability of present analysis is shown.
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