Hybrid Multi-DOF Motor for Multi-Copter Unmanned Aerial Vehicle

This paper presents an intensive research on a multi-degree-of-freedom (DOF) motor and a new mechanism for power conversion based on continuous developments pursued since 2000. In fact, various structures have been proposed to operate more than two DOFs from one point of action, and their control methods have been thoroughly studied. As a result, the interpretations of both multiple DOFs to drive the motor and the operating characteristics have been considerably improved, but few applications of the motor have been developed. Practically and widely studied applications for this type of motor can include unmanned aerial vehicles, such as multi-copters and drones, whose operation can be enhanced by using multi-DOF motors. This paper details the investigation of the generic technology underlying these motors and a novel hybrid multi-DOF motor with improved tilting torque, practicality, and control for applications requiring actuation on more than two DOFs. Specifically, we present the electromagnetic separation of the rotation and tilt drives to simplify manufacturability and control. In addition, we describe the characteristics of various tilt actuators to increase the tilt torque. We designed, fabricated, and tested the proposed hybrid multi-DOF motor to verify its performance, and projected its application in a multi-copter.