一种兼具实用弹性和效率的变形设计六旋翼原型

中文摘要 AI 辅助

本工作通过实验证明了名为Opti-Hexa的六旋翼原型的存在，它能同时实现对单螺旋桨故障的实用弹性以及与具有相同尺寸、重量、硬件和软件的标准星形原型相当的能源效率。利用新型开源变形平台，通过改变相邻螺旋桨之间的角度，研究了连续几何形状范围内的权衡。通过数据拟合的经验功率模型研究实际效率，并通过比较故障期间的位置精度和旋转动能与标称悬停条件下的情况来评估实际弹性。实验证实了该特定变形平台存在几何可行性区域，在该区域可确保弹性且无现有技术中实用弹性设计通常伴随的空气动力学效率损失。还发布了变形平台的完整硬件和软件以支持进一步研究。

英文摘要

This work demonstrates experimentally the existence of a hexarotor prototype, termed Opti-Hexa, that simultaneously achieves practical resilience to single-propeller failures and energy efficiency comparable to a standard Star-shaped prototype with the same size, weight, hardware and software. Leveraging a novel open-source morphing platform, we investigate the trade-offs across a continuous range of geometries by varying the angles between adjacent propellers. We study practical efficiency through a data-fitted empirical power model and evaluate practical resilience by comparing the position accuracy and rotational kinetic energy during failure to those observed under nominal hovering conditions. Our experiments confirm the existence of a geometric viability region for this specific morphing platform, where resilience is ensured without the aerodynamic efficiency losses typically associated with practically resilient designs found in the state of the art. The complete hardware and software of the morphing platform are released to support further research.

发表机构

• Ecole Nationale de l’Aviation Civile（法国国立民用航空学院）
• Center for Artificial Intelligence and Robotics, New York University Abu Dhabi（纽约大学阿布扎比分校人工智能与机器人中心）
• Sapienza University of Rome（罗马第一大学）
• Robotics and Mechatronics lab, Faculty of Electrical Engineering, Mathematics & Computer Science, University of Twente（荷兰屯特大学电气、数学与计算机科学学院机器人与机电一体化实验室）

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