2023 Fiscal Year Final Research Report
Study on Multicopter with transformable propeller arm
| Project/Area Number |
20K04387
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Meijo University |
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Principal Investigator |
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| Project Period (FY) |
2020-04-01 – 2024-03-31
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| Keywords | マルチコプタ / インフラ点検 / 変形機構 |
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| Outline of Final Research Achievements |
This research aimed to develop a multicopter that can be used for stable infrastructure inspections, and that can be used for inspections in close distance and narrow spaces, by adding a tilt and slide mechanism to the propeller arm, instead of mounting a robot arm on a multicopter, as in previous research. Through simulation and prototyping, we clarified the problems with the deformation mechanism, and designed a improved multicopter with a 1-DOF tilt and slide mechanism, and verified it through the experiments that stable flight is possible even with the deformation mechanism.
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| Free Research Field |
ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
本研究では，インフラ点検への利用を想定した変形機構を有するマルチコプタを提案し，その基礎検証を行った．4ロータや6ロータのマルチコプタに対して，プラスアルファで機能を追加する形の研究は多く見られるものの，通常のマルチコプタと同様の形状を持ちながら，変形により求める機能を実現できる本提案は独創的な研究となった．機体重量の軽量化が可能となるため，マルチコプタの飛行時間の増加も期待でき，インフラ点検へのマルチコプタの活用に資する知見を得ることができた．
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