Newly proposed hybrid type mutli-DOF operation motor for multi-copter UAV systems

Previous researches have been conducted on the multi-degree of freedom operation motor, a new mechanism for power conversion out of the existing motor from early in 2000. Various types of structure have been suggested to operate more than two-degree of freedom (DOF) from one point of action and control methods have been studied appropriately for each structure. This led to overall improvement in interpreting the multi-degree of freedom for drive motor and the ability to interpret the operating characteristics, but few applications have been development practically. On the other hand, UAV systems like a multi-copter and drone, which is the biggest issue recently, are considered to be the field of applications that can maximize the effects if applying the multi-degree operation motor being studied now. This paper investigates the generic technology and suggests a new hybrid type multi-degree of freedom operation motor with increased tilting torque, improved practicality, and easy control in the commercialization stage that requires more than two-degree of freedom for application to the driving motor. In other words, rotational driving and tilting driving were separated electromagnetically to improve manufacturability and ease control and the characteristics of various tilting operating actuators were discovered for increasing the tilting torque. Finally, such a suggested hybrid type multi-degree of freedom operation motor was designed, manufactured, and tested to verify its performance. At the same time, the necessity of multi-degree of freedom operation motor in the multi-copter system, a field of application expected was discovered and the system modeling was conducted.