Title:
The Semi-Coaxial Multirotor
The Semi-Coaxial Multirotor
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Authors
Bershadsky, Dmitry
Haviland, Stephen
Johnson, Eric N.
Haviland, Stephen
Johnson, Eric N.
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Abstract
The ”semi-coaxial” multirotor configuration is presented including its advantages over the conventional coaxial rotor
configuration. The semi-coaxial configuration retains the benefits of the coaxial configuration, and additionally alleviates
the loss of efficiency encountered when rotors are stacked coaxially. In addition to being more power-efficient
than the standard coaxial configuration, the described configuration allows for nearly- or fully-actuated control of a
multirotor when used in configurations such as the three-armed Y6 hexarotor. Using this configuration, a new Direct
Force Control (DFC) multirotor is presented: the Y6sC, a specific example of the semi-coaxial multirotor. The configuration
orients six rotors in a way which allows the vehicle to hover in non-zero attitudes and translate without rotating
with higher efficiency than the corresponding coaxial design.
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Date Issued
2018-05
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Text
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Proceedings