Development of a Small Hovering Robot with High Lifting Force Using Coaxial Double Rotors Driven by Twin Motor Pairs
A small hovering robot is under development for observing circumstances in dangerous indoor spaces where human beingA small hovering robot is under development for observing circumstances in dangerous indoor spaces where human beings cannot enter. To lift and carry various mechanisms for controlling the attitude, position and level of the robot, improvements of the lifting force and payload are required without enlarging the robot size. Because the lifting force is proportional to the square of rotation speed, high-speed rotation of coaxial rotors was enabled by driving each rotor using a pair of motors, here. As a result, the lifting force and payload were drastically increased. Driving the coaxial double rotors by four motors in total, and using a high-power and long-life battery, the lifting force was increased from 4.31 N to 11.86 N, and the payload was improved from 2.84 N to 9.48 N. The flight time was limited for less than 1.5 min in the past research, because each rotor was driven by a single motor, and the motors were excessively heated by the overload. Applying the twin motor drive, the hovering time only depended on the battery capacity, and a prototype robot with 5.68 N actually hovered for more than 3 min.
Tojiro Aoyama, Hideki Aoyama, Atsushi Matsubara, Hayato Yoshioka and Libo Zhou
Y. Kobayashi et al., "Development of a Small Hovering Robot with High Lifting Force Using Coaxial Double Rotors Driven by Twin Motor Pairs", Key Engineering Materials, Vols. 523-524, pp. 705-710, 2012