模块化多旋翼：从四旋翼到全驱动飞行器
Modular Multi-Rotors: From Quadrotors to Fully-Actuated Aerial Vehicles
AI总结：
针对传统定制化飞行器任务适配性差的问题，提出模块化空中机器人H-ModQuad，可通过模块配置调整负载与驱动自由度，经建模优化推力效率并验证了不同配置的驱动特性差异。
摘要：
传统飞行器因其定制化设计，受限于只能执行特定任务。基于模块化理念，我们提出了一种多功能机器人H-ModQuad，它可通过提升负载能力与驱动自由度来适配不同任务。该机器人由搭载倾斜旋翼的四旋翼驱动的长方体模块构成。我们提出了两类模块设计方案，为空中系统带来可扩展、多功能的驱动能力。通过配置多个模块，H-ModQuad可提升有效载荷能力，并将驱动自由度从4个调整为5个乃至6个。我们采用驱动椭球与力旋量多面体对H-ModQuad的驱动能力进行建模，找到了可最大化其推力效率的飞行器机体坐标系。我们还将飞行器能力与正式定义的任务需求进行了对比。我们阐述了H-ModQuad的动力学特性，并整合了不受飞行器设计限制的控制策略。通过实际机器人开展的实验验证了该设计与模型的有效性，结果表明不同配置的H-ModQuad飞行器具备不同的驱动特性。
英文摘要：
Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated degrees of freedom. It is composed of cuboid modules propelled by quadrotors with tilted rotors. We present two families of module designs that bring scalable and versatile actuation to the aerial systems. By configuring multiple modules, H-ModQuad can increase its payload capacity and change its actuated degrees of freedom from 4 to 5 and 6. By modeling the actuation capability of H-ModQuad using actuation ellipsoids and wrench polytopes, we find the body frame of a vehicle that maximizes its thrusting efficiency. We also compare the vehicle capabilities against formally defined task requirements. We present the dynamics of H-ModQuad and integrate control strategies despite the vehicle design. The design and model are validated with experiments using actual robots, showing that H-ModQuad vehicles with different configurations provide different actuation properties.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
