Conference Paper Structural Optimization of Hexrotors Based on Dynamic Manipulability and the Maximum Translational Acceleration

木曽, 勝之  ,  Kiso, Katsuyuki  ,  伊吹, 竜也  ,  Ibuki, Tatsuya  ,  安田, 真大  ,  Yasuda, Masahiro  ,  三平, 満司  ,  SAMPEI, MITSUJI

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.

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