Abstract
In recent years, multi-rotor helicopter has been used in various fields. However, it has the disadvantages. A general multi-rotor helicopter needs to change its attitude when moving horizontally. Therefore, fluctuations in the attitude of the aircraft to counter disturbances pose a risk of contact with structures when approaching a structure in infrastructure inspection. Furthermore, in contact work, it is required to independently control translational motion and rotational motion, such as maintaining the position of the aircraft while maintaining an arbitrary attitude. Based on the above background, the study is being conducted on a non-planar multi-rotor helicopter in which translational motion and rotational motion can be controlled independently. In this study, in order to establish the optimum design of the airframe specialized in the arbitrary axial direction, an evaluation index called ”Force capacity” is applied to the non-planar multi-rotor helicopter, and the attitude of each rotor is optimized.
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