通过可转向旋翼实现六自由度全驱动四旋翼，无需大幅改造机身。
Gimballed Rotor Mechanism for Omnidirectional Quadrotors
- 在旋翼平台内嵌伺服电机，实现独立倾角控制。
- 支持全向飞行，六自由度运动完全可控。
- 设计轻便易集成，适合快速部署的无人机应用。
本文提出一种可转向旋翼机构，作为构建全向四旋翼的模块化高效解决方案。与传统欠驱动四旋翼不同，该类四旋翼实现完全驱动，可在六个自由度上独立运动。现有全向四旋翼设计常需显著结构改动，而所提可转向旋翼系统通过在旋翼平台内集成伺服电机，实现各旋翼独立倾角调节，无需对四旋翼主体结构进行重大修改。为适配此非传统设计，我们开发了新的控制分配方案并集成至PX4 Autopilot，成功完成飞行测试，验证了该方法的有效性。
原文摘要 · Abstract (English)
This paper presents the design of a gimballed rotor mechanism as a modular and efficient solution for constructing omnidirectional quadrotors. Unlike conventional quadrotors, which are underactuated, this class of quadrotors achieves full actuation, enabling independent motion in all six degrees of freedom. While existing omnidirectional quadrotor designs often require significant structural modifications, the proposed gimballed rotor system maintains a lightweight and easy-to-integrate design by incorporating servo motors within the rotor platforms, allowing independent tilting of each rotor without major alterations to the central structure of a quadrotor. To accommodate this unconventional design, we develop a new control allocation scheme in PX4 Autopilot and present successful flight tests, validating the effectiveness of the proposed approach.
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