Design, Manufacturing and Dynamic Modeling of a Coaxial VTOL Micro UAV, Based on Center of Gravity Steering

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Kheiri, Mohammad Javad | 2013

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 45814 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Zohoor, Hassan
Abstract:
In recent years, the area of research on micro flying robots has been developed due to the development in micro manufacturing technologies. Due to extra advantages of these flying robots, they are implemented in military and civilian missions such as identifying, espionage, aerial relays, traffic surveillance, rescue, aid, etc. Ability to fly in specified areas, without human injuries, low manufacturing and energy costs, easy and fast implementation, Easy Maintenance, etc, which are some advantages of these robots. We can control these robots manually by remote controllers (RC) or by Auto guidance systems. On the other hand, these robots are used in research laboratories for testing new control algorithms such as multiagent systems. In this research we use COG3 Displacement idea for lateral maneuvering in MFR4 and analyzing the results. Therefore we start with conceptual design of a coaxial VTOL MFR, then we continue the work by Detail Design and manufacturing a pilot model of robot then detected by laboratory methods and modeling software system, finally we develop the dynamic model of robot in MATLAB and Lagrange method
Keywords:
Dynamic Modeling ; Parameters Identification ; Unmanned Aerial Vehicles (UAV) ; Vertical Take-Off and Landing (VtOL) ; Center of Gravity (COG)Displacement