Inertial Parameters Computation for a Novel Design of Multi-Link Quadrotor

Multi-link drones represent a revolutionary advancement in aerial systems, as they can modify their shape mid-flight to accomplish specific missions. These changes in geometric structure can lead to significant variations in the drone's inertial parameters. Consequently, accurately identifying these parameters becomes imperative to develop a faithful model capable of replicating the drone's behavior. In this study, we present a novel design of multi-link quadrotor. This drone can perform various tasks in different locations, such as navigating through confined spaces and executing transport missions, using only its body by modifying its mechanical structure in flight. Additionally, We address the identification of variable geometric parameters, such as the Center of Gravity (CoG) and the inertia matrix, which depend on the shape of the drone's structure. Therefore, we have introduced an analytical method for efficiently performing real-time calculations that can handle all these configurations, using MATLAB software. Subsequently, to verify and validate our method, we integrated a multi-body design model into SolidWorks software, thereby ensuring the accuracy and reliability of our results.