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A MULTI-PURPOSE, EXPERIMENTAL PLATFORM FOR TESTING THE PROPERTIES OF FULLY ACTUATED MULTIROTORS (OMNICOPTERS)
Abstract
Omnicopters are fully actuated UAVs (unmanned aerial vehicles) with some special properties, such as the ability to fly in an arbitrarily chosen orientation. However, many of their characteristics, including their resistance to wind gusts, remain poorly understood. This paper presents a new multirotor design that can be used to conduct comparative studies. The proposed platform is an eight-engine aircraft, and its main advantage is the ability to rearrange four of the motors between two configurations when landed, resulting in a standard octocopter or an omnicopter. The design process is discussed, including calculations using simplified mathematical models of motors, propellers, and batteries to select the appropriate components. Real functionality is also taken into account to ensure real functionality - reasonable thrust, maximal take-off mass, and flight time allowing for practical tasks to be performed. The structure uses tubes and plates made of carbon fibre composite and parts made using fused filament fabrication technology, thanks to which the final weight of the chassis is within the assumed limits. Finally, the article presents a test of the machines operation and verification of the fulfillment of the design assumptions.
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References7
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