Design and Modeling of Unconventional Quadrotors

In this paper, we propose a new design of unconventional quadrotors with simple mechanisms. They are able to change the orientation and the length of their arms independently thanks to their adaptive morphologies, these quadrotors can be used for specific missions and in more congested spaces. Thus, the usefulness of certain configurations that our quadrotors can make will be shown. In addition, a detailed and generic model is proposed for three possible cases: 1) the extension of the arms, 2) the rotation of the arms, 3) the hybridization between the extension and rotation of the arms. We stress that the modeling of these unconventional quadrotors is more challenging compared to the standard quadrotors, because of the geometrical asymmetry of the quadrotor structures and the constant change of the inertia and the center of gravity during the flight. In this work, a preliminary prototype of our quadrotor with rotating arms is presented with the electronic architecture.