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The modeling and implementation of tri-rotor flying robot

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Abstract

The objective of this study is to develop a tri-rotor flying robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, the RC servomotor and linkage is installed on the tail axis in order to improve the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the horizontal component of the lift from the inclined motor on the tail axis, it balances the yaw torque of the three rotors. The dynamic equations of the tri-rotor flying robot are determined in this paper. The relationship between motor thrust, angular acceleration, and voltage input was also studied in this research. In order to study the effect of control parameters on the flight stability completely, this study develops a universal stability experimental platform to help tuning the control parameters safely. Based on this, the tri-rotor flying robot can rapidly change flying gesture and avoid oscillation. Finally, we conducted some indoor and outdoor flight tests. From the experimental results, the tri-rotor flying robot can fly and hover stably in the sky.

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Acknowledgments

This work is sponsored by the National Science Council, Taiwan, Republic of China under Grant Number NSC 99-2221-E-150 -063.

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Authors and Affiliations

  1. Department of Aeronautical Engineering, National Formosa University, Yunlin County, Taiwan

    Jie-Tong Zou & Haw Tso

  2. Department of Electronical Engineering, National Yunlin University of Science and Technology, Yunlin County, Taiwan

    Kuo-Lan Su

Authors
  1. Jie-Tong Zou
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  2. Kuo-Lan Su
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  3. Haw Tso
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Corresponding author

Correspondence to Jie-Tong Zou.

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Zou, JT., Su, KL. & Tso, H. The modeling and implementation of tri-rotor flying robot. Artif Life Robotics 17, 86–91 (2012). https://doi.org/10.1007/s10015-012-0028-2

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  • DOI: https://doi.org/10.1007/s10015-012-0028-2

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