Design and fabrication of an autonomous Octorotor flying robot

摘要

In this paper, the full procedure of the mechanical design and electronic subsystems of a new Octorotor flying robot is discussed. The number of motors from four motors is increased to eight motors which all of motors set as coaxial and they are installed two by two. It means that four motors are placed on top of the robot and another four motors are placed on down of the robot coaxially. This structure can be use for carrying more pay load. In addition, there are many factors in control of a flying robot which its motion affects from eight motors. In fact, the main factor of flying robot motion is done by these brushless DC motors which achieves to the desired area. Also, IMU works as a stabilizer in the motion control system. Since the robot needs more flight time, it should have light-weight and official materials such as fiber carbon. It should be note that the equal distance is considered between the shaft centers of the motors in Octorotor. Also, the movement control system of Octorotor is supplied by the designed PID controller which will be discussed.