新型六旋翼无人机在失效时仍能稳定飞行，且能耗与常规机型相当。
A Morphing-Designed Hexarotor Prototype combining Practical Resilience and Efficiency
- 通过调节旋翼夹角实现可变构型，探索几何形态与性能的权衡关系。
- 实测表明其单电机失效时定位精度与动能损失可控，效率接近标准星形布局。
- 开源硬件软件平台支持后续研究，适合无人机鲁棒性与能效优化方向开发者。
本文实验验证了一款名为 Opti-Hexa 的六旋翼原型机，可在与标准星形布局相同尺寸、重量、软硬件条件下，同时实现单电机故障下的实用鲁棒性与接近最优的能源效率。基于新型开源可变形平台，通过连续调节相邻旋翼夹角，系统研究了几何形态变化带来的性能权衡。采用数据拟合的经验功耗模型评估实际效率，并通过故障状态下的位置精度与旋转动能与正常悬停状态对比来衡量鲁棒性。实验确认了该可变形平台存在一个几何可行区域，在此区域内可确保鲁棒性而不产生传统鲁棒设计常见的气动效率损失。完整硬件与软件已开源，以推动后续研究。
原文摘要 · Abstract (English)
This work demonstrates experimentally the existence of a hexarotor prototype, termed Opti-Hexa, that simultaneously achieves practical resilience to single-propeller failures and energy efficiency comparable to a standard Star-shaped prototype with the same size, weight, hardware and software. Leveraging a novel open-source morphing platform, we investigate the trade-offs across a continuous range of geometries by varying the angles between adjacent propellers. We study practical efficiency through a data-fitted empirical power model and evaluate practical resilience by comparing the position accuracy and rotational kinetic energy during failure to those observed under nominal hovering conditions. Our experiments confirm the existence of a geometric viability region for this specific morphing platform, where resilience is ensured without the aerodynamic efficiency losses typically associated with practically resilient designs found in the state of the art. The complete hardware and software of the morphing platform are released to support further research.
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