论文标题
分形四面体UAS组装的建模和实验验证
Modeling and Experimental Validation of a Fractal Tetrahedron UAS Assembly
论文作者
论文摘要
本文为模块化机器人系统奠定了基础，该机器人系统由四面体形状的几个新型模块组成。组装了四个单螺旋形supsodul，以创建四面体形的四面体四轮摩托车，用作模块化飞行系统的基本模块。这种模块化飞行系统是通过以分形形式组装不同基本模块来构建的。模块化飞行组件的分形四面体结构比传统的二维模块化机器人飞行系统更具刚性，同时保持二维模块化机器人飞行系统的相对效率。佐治亚理工学院的决策和控制实验室对四轮摩托车的原型进行了建模，制造和成功测试。这项研究的结果为四面体旋翼飞机的开发奠定了基础，这些旋翼飞机可以保持可控的飞行并在飞行中组装以创建分形四面体组件。
This paper presents the foundation of a modular robotic system comprised of several novel modules in the shape of a tetrahedron. Four single-propeller submodules are assembled to create the Tetracopter, a tetrahedron-shaped quad-rotorcraft used as the elementary module of a modular flying system. This modular flying system is built by assembling the different elementary modules in a fractal shape. The fractal tetrahedron structure of the modular flying assembly grants the vehicle more rigidity than a conventional two-dimensional modular robotic flight system while maintaining the relative efficiency of a two-dimensional modular robotic flight system. A prototype of the Tetracopter has been modeled, fabricated, and successfully flight-tested by the Decision and Control Laboratory at the Georgia Institute of Technology. The results of this research set the foundation for the development of Tetrahedron rotorcraft that can maintain controllable flight and assemble in flight to create a Fractal Tetrahedron Assembly.
