Abstract
Hybrid aerial robots possess multiple capabilities embedded in a single platform through meticulous design, enabling their utilization in various challenging applications. This dissertation explores the strategic augmentation of additional actuators on the nature-inspired monocopter platform to enhance its capabilities. Progressive design methodologies and actuator configurations are investigated to overcome inherent challenges associated with their constant spinning nature, cyclic control, and susceptibility to environmental factors.
Drawing inspiration from both existing UAV designs and biological creatures, such as birds and insects, the dissertation presents an innovative approach to monocopter designs. Initially, the investigation focuses on exploring the integration of multiple actuators across the wing, validating diverse control authorities through synchronous and asynchronous control of motors and flap. This study reveals that superior control can be obtained through systematic control allocation to different actuators. Further on, span-wise repositioning of actuators with thrust vectoring leads to the development of a two-flight mode UAV capable of mid-air transitions. The fusion of attributes from the bicopter flight mode enhances maneuverability while retaining the power efficiency of the monocopter mode.
Following that, repositioning of servos allows span-wise control of motors, resulting in a monocopter platform with foldable wings. Utilizing origami techniques for wing design, the platform demonstrates active and passive wing-folding mechanisms, reducing its overall footprint during flight. Lastly, exploration focuses on the vertical arrangement of motors, leveraging asynchronous motor control to enhance versatility and conserve power. This research contributes to the development of a monocopter-based robot, enabling both flight and ground locomotion capabilities while ensuring seamless transitions between the two modes.
In its entirety, this research presents a notable evolution in monocopter designs, effectively expanding their scope of potential applications. The dissertation not only highlights the advancements achieved but also underscores the importance of drawing inspiration from nature to enhance UAV capabilities.