Browsing by Subject "Micro aerial vehicles"

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    ItemOpen Access
    A study on the effect of structural compliance placing in soft contact/collision properties of multirotor micro aerial vehicles
    (Wiley-VCH Verlag GmbH & Co. KGaA, 2024-10-14) Abazari, Amirali; Bakır, Alihan; Sertpoyraz, Altar; Özcan, Onur
    Adding compliance (softness) has been introduced as an effective way to improve the physical collision resilience characteristics of multirotor micro aerial vehicles(MAVs). This article answers the question “Where is the best place to apply compliance in a multirotor MAV to make it more collision-resilient?” by analyzing the output data of more than 1200 drone collision tests through two sets of accelerated and nonaccelerated collision experiments for four main configurations of micro-quadcopters each possessing a unique softness layout of physical frame. It is shown that while applying compliance to the protective propeller guards (bumpers) of a micro-quadcopter provides a more elastic collision, it does not improve its energy-dissipation (impact damping) characteristics. On the other hand, enhancing the inner frame of the micro-quadcopter with a softer structure results in higher rates of impact energy damping during the collision sand an increase in the impact time, which results in lower impact accelerations the MAV experiences during the crush. A mathematical model is developed representing the contact/collision interactions as nonlinear viscoelastic forces. Comparing the results of the simulations to the experiments suggests that this model can effectively mimic the impact behavior of contacting/colliding MAVs with different structural stiffness and damping.
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    ItemOpen Access
    Collision resilient foldable micro aerial robot
    (2019-09) Dilaveroğlu, Levent
    Collision management strategies are integral part of micro air vehicles for the reliability of their operation. Collision avoidance strategies require enhanced environmental and situational awareness for generating evasive maneuver trajectories. Simpler and more adaptable option is to prepare for collisions and design the physical frame around predicted collision patterns. In this work, a mechanically compliant frame design collaborating origami-inspired foldable robotics methods with protective shock absorbing or guiding elements has been proposed for a collision resilient quad-rotor UAV. General workings and mathematical model of quadrotor has been explained to inform the reader further about the quadrotor mechanics. 2D design of the foldable structure and the manufacturing process, including electronic hardware elements and software has been discussed. Control scheme, communication and operation is explained in detail to be an informative guideline for the future air vehicle projects of the Bilkent Miniature Robotics Lab.