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タイトル
和文:対称平面傾斜ロータ構造をもつヘキサロータ型全駆動UAVの動的可操作性解析と設計最適化 
英文:Dynamic Manipulability Analysis and Design Optimization of a Fully-actuated Hexrotor UAV with Symmetric-Coplanar-Tilted-Rotor Structure 
著者
和文: 田所 祐一, 伊吹 竜也, 三平 満司.  
英文: Yuichi Tadokoro, Tatsuya Ibuki, Mitsuji Sampei.  
言語 Japanese 
掲載誌/書名
和文:計測自動制御学会論文集 
英文: 
巻, 号, ページ Vol. 53    No. 8    pp. 480-489
出版年月 2017年8月 
出版者
和文:計測自動制御学会 
英文: 
会議名称
和文: 
英文: 
開催地
和文: 
英文: 
DOI https://doi.org/10.9746/sicetr.53.480
アブストラクト 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.

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