可垂直折叠的四旋翼无人机，能变形成抓取器并缩小体积。
Design and Control of an Actively Morphing Quadrotor with Vertically Foldable Arms
- 用舵机和齿轮组主动控制机臂垂直折叠，保持螺旋桨朝向不变。
- 折叠后机身缩小至原尺寸的67%，可在狭小空间穿行。
- 适合需要变形与抓取的复杂场景，如搜救或管道检测。
本文提出一种新型四旋翼无人机设计，可通过垂直折叠机臂实现抓取物体和通过狭窄空间。该变形由中央舵机、齿轮与齿条系统主动控制。机臂连接电机底座与中心框架，构成平行四边形结构，确保在形态变化过程中螺旋桨方向保持恒定。展开状态类似传统四旋翼，折叠完成后则转变为夹持器，抓取组件从电机底座伸出。为抑制变形与抓取过程中的扰动，采用带有干扰观测器的自适应滑模控制器。完全折叠后，无人机整体尺寸缩小至原始尺寸的67%。通过实际实验验证了其控制性能与多功能性。
原文摘要 · Abstract (English)
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms connect the motor bases to the central frame, forming a parallelogram structure that ensures the propellers maintain a constant orientation during morphing. In its stretched state, the quadrotor resembles a conventional design, and when contracted, it functions as a gripper with grasping components emerging from the motor bases. To mitigate disturbances during transforming and grasping payloads, we employ an adaptive sliding mode controller with a disturbance observer. After fully folded, the quadrotor frame shrinks to 67% of its original size. The control performance and versatility of the morphing quadrotor are validated through real-world experiments.
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