Modeling, analysis and fabrication of a thrust vectoring spherical VTOL aerial vehicle

This paper aims at presenting a configuration for a multi-functional spherical aerial vehicle designed for search and rescue purposes which has the advantages of hover, level flight and amazing mobility. This is an advanced version of a Single-Copter and is called the Thrust Vectoring Aerial Craft (TVAC). The Spherical frame allows the vehicle to encounter an object without the risk of damaging the propeller and on board components and can land virtually anywhere without the need for critical pilot training The swash plate enabled thrust vectoring provides extra maneuverability and responsiveness to the craft in extreme environments. This first prototype consists of a single propeller, a 2-axis swash-plate and four control surfaces enclosed in a light-weight spherical frame. The craft is stabilized using a KK multicopter gyro based controller with four servo outputs and one motor output. A successful attitude control and stability is demonstrated with the swash-plate mechanism providing greater efficiency than its Single-Copter counterpart. Various experimental results after flight tests regarding the center of gravity and appropriate projected areas of various control vanes are also emphasized.