This paper proposes a novel structure of hexrotor unmanned aerial vehicles (UAVs),
2Y-Yaw-Twisted Hexrotor, which is fault tolerant against rotor failure. First, a dynamical model and a hoverability analysis method for hexrotor UAVs are shown. Then, quantitative measure of hoverability is newly presented based on the analysis method. Next, the structure of 2Y-Yaw-Twisted Hexrotor is defined and it is proven that the structure is fault tolerant against rotor failure.
Furthermore, optimal design for 2Y-Yaw-Twisted Hexrotor is conducted by maxmizing the present quantitative measure. Finally, a numerical simulation presents the validation of the fault-tolerance analysis of 2Y-Yaw-Twisted Hexrotor.
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