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Structural optimization of hexrotors based on dynamic manipulability and the maximum translational acceleration | IEEE Conference Publication | IEEE Xplore

Structural optimization of hexrotors based on dynamic manipulability and the maximum translational acceleration


Abstract:

This paper investigates a structural optimization problem of hexrotors. As structural evaluation indices, we introduce the maximum translational acceleration, in addition...Show More

Abstract:

This paper investigates a structural optimization problem of hexrotors. As structural evaluation indices, we introduce the maximum translational acceleration, in addition to general 6-DOF dynamic manipulability, taking account of payload flying against the gravity force. We next consider a special class of structure where 6-DOF dynamic manipulability can be approximated by the simple product of translational and rotational manipulability. Then, we consider the optimization problem and solve it by a nonlinear optimization technique. As a result, it is shown that the optimized structure has symmetric properties. We finally evaluate the optimality via simulations with simple feedback control.
Date of Conference: 21-23 September 2015
Date Added to IEEE Xplore: 05 November 2015
ISBN Information:
Print ISSN: 1085-1992
Conference Location: Sydney, NSW, Australia

References

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