The Semi-Coaxial Multirotor
Dmitry Bershadsky, Stephen Haviland, Georgia Institute of Technology; Eric N. Johnson, Pennsylvania State University
The Semi-Coaxial Multirotor
- Presented at Forum 74
- 9 pages
- SKU # : 74-2018-1284
- Your Price : $30.00
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The Semi-Coaxial Multirotor
Authors / Details: Dmitry Bershadsky, Stephen Haviland, Georgia Institute of Technology; Eric N. Johnson, Pennsylvania State UniversityAbstract
The "semi-coaxial" multirotor configuration is presented including its advantages over the conventional coaxial rotor configuration. The semi-coaxial configuration retains the benefits of the coaxial configuration, and additionally alle- viates the loss of efficiency encountered when rotors are stacked coaxially. In addition to being more power-efficient than the standard coaxial configuration, the described configuration allows for nearly- or fully-actuated control of a multirotor when used in configurations such as the three-armed Y6 hexarotor. Using this configuration, a new Direct Force Control (DFC) multirotor is presented: the Y6sC, a specific example of the semi-coaxial multirotor. The config- uration orients six rotors in a way which allows the vehicle to hover in non-zero attitudes and translate without rotating with higher efficiency than the corresponding coaxial design.
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