Towards dynamically-favourable quad-rotor aerial robots

Pounds, Paul, Mahony, Robert, Gresham, Joel, Corke, Peter, & Roberts, Jonathan M. (2004) Towards dynamically-favourable quad-rotor aerial robots. In Barnes, Nick & Austin, David (Eds.) Proceedings of the 2004 Australasian Conference on Robotics & Automation, Australian Robotics & Automation Association, Australian National University Canberra.

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This paper outlines progress towards realising practical quad-rotor robot helicopters and, in particular, the Australian National University’s ‘X-4 Flyer’ platform. Two challenges facing the X-4 are generating sufficient thrust and managing unstable dynamic behaviour. We address these issues with a rotor design technique for maximising thrust and the application of a novel rotor mast configuration. An aero-elastic blade design is described and its performance results are presented. A sprung teetering rotor hub that allows adjustment of the blade flapping characteristics and a quad-rotor dynamic model with blade flapping are introduced. The use of inverted rotors is shown to produce favorable stability properties for the Mark II X-4 Flyer.

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ID Code: 33833
Item Type: Conference Paper
Refereed: Yes
Additional Information: Proceedings of ACRA available on CD-ROM, at a cost of Aus$200 each.
Keywords: quad-rotor robots, aerial, helicopter
ISBN: 0-9587583-6-0
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Current > Institutes > Institute for Future Environments
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2004 [please consult author]
Deposited On: 23 Sep 2010 02:03
Last Modified: 12 Sep 2014 07:21

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