Multicopter Joint Layout for Uncoupled Aerial Degrees of Freedom
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Solution Overview
Problem
Existing multicopters with fixed propulsion units lack uncoupled degrees of freedom, limiting their ability to perform certain movements efficiently and accurately, and require increased complexity and weight by using servo-actuators to achieve independent motion.
Innovation Solution
An aerial vehicle design featuring a main frame with multicopter units attached via joints that provide additional degrees of freedom, allowing each multicopter unit to rotate independently, thereby enabling uncoupled motion without the need for servo-actuators, and incorporating a controller system to manage thrust and tilt angles for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing multicopters use fixed propulsion units, then the structure is simple and weight is reduced, but the degrees of freedom are coupled and cannot perform certain movements efficiently
Solution Approach 1:
The aerial vehicle is divided into multiple independent multicopter units, each with its own propulsion units and control system. Each unit can independently control its thrust and orientation, allowing the overall system to achieve uncoupled degrees of freedom through coordinated operation of segmented components rather than requiring a monolithic complex structure
Solution Approach 2:
The propulsion units are made dynamically adjustable through independent thrust control of each rotor. By varying the thrust of individual propulsion units in real-time, the system achieves uncoupled degrees of freedom without mechanical complexity, allowing dynamic reconfiguration of the vehicle's motion capabilities
2Adaptability or versatility
If existing multicopters use servo-actuators to tilt propulsion units, then independent motion is achieved, but weight and complexity increase
Solution Approach 1:
The patent replaces mechanical tilt actuators with a control system that achieves the same effect through differential thrust control. Instead of mechanically tilting propulsion units using heavy servo-actuators, the system uses software control to adjust the thrust of individual rotors, substituting a mechanical system with a computational control approach that eliminates additional weight
Solution Approach 2:
The system achieves independent motion control by creating virtual copies of control algorithms that simulate the effect of mechanical tilting through computational models. The control software calculates the required thrust distribution to achieve desired motion, effectively copying the functional outcome of mechanical tilting without the physical hardware
3Adaptability or versatility
If existing multicopters increase the number of propulsion units, then more movements are possible, but weight and complexity increase
Solution Approach 1:
The patent uses a standard number of propulsion units (e.g., four rotors in a quadcopter) but applies partial action by independently controlling each rotor's thrust to achieve uncoupled degrees of freedom. Instead of adding more propulsion units, the system uses sophisticated control algorithms that exploit the existing configuration, applying excessive computational action to compensate for the lack of additional hardware
Data Source
AI summary
An aerial vehicle that comprises a main frame and a plurality of operable multicopter units. Each multicopter unit has a plurality of propulsion units. The propulsion units are attached to the respective multicopter unit at a fixed roll angle, a fixed pitch angle and a fixed yaw angle. The plurality of operable multicopter units are attached to the main frame by interposition of respective joints and rotate relative to the main frame independently to each other. At least one of the joints has a minimum of one degree of freedom, such that the main frame has a at least the same or higher number of controllable degrees of freedom than the total number of degrees of freedom of the main frame.