イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	日本語
発行・発表の年月	2017/08
形態種別	学術雑誌
査読	査読あり
標題	対称平面傾斜ロータ構造をもつヘキサロータ型全駆動UAVの動的可操作性解析と設計最適化
執筆形態	共著(筆頭者以外)
掲載誌名	計測自動制御学会論文集
掲載区分	国内
出版社・発行元	計測自動制御学会
巻・号・頁	53(8),480-489頁
総ページ数	10
著者・共著者	田所祐一，伊吹竜也，三平満司
概要	This paper tackles dynamic manipulability analysis and design optimization of a fully-actuated hexrotor unmanned aerial vehicle. First, a dynamical model of the hexrotor is presented. The model is then analyzed to prove that nonplanar hexrotor structure can be approximately simplified and transformed into planar rotor arrangement. Based on the fact, symmetric-coplanar-tilted-rotor (SCTR) structure is introduced as a kind of canonical structure of hexrotors. Moreover, dynamic manipulability measure (DMM) of the hexrotor is newly defined to analyze its maneuverability, and DMM of the hexrotor with SCTR structure is found suitable for performance evaluation of the structure. Finally, based on the analysis, a design optimization method for the hexrotor is presented, and numerical examples are shown.