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Towards dynamically-favourable quad-rotor aerial robots

Pounds, Paul, Mahony, Robert, Gresham, Joel, Corke, Peter, & Roberts, Jonathan (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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    Abstract

    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
    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
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2004 [please consult author]
    Deposited On: 23 Sep 2010 12:03
    Last Modified: 11 Aug 2011 03:06

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