Structural optimization of hexrotors based on dynamic manipulability and the maximum translational acceleration

This paper investigates a structural optimization problem of hexrotors. As structural evaluation indices, we introduce the maximum translational acceleration, in addition to general 6-DOF dynamic manipulability, taking account of payload flying against the gravity force. We next consider a special class of structure where 6-DOF dynamic manipulability can be approximated by the simple product of translational and rotational manipulability. Then, we consider the optimization problem and solve it by a nonlinear optimization technique. As a result, it is shown that the optimized structure has symmetric properties. We finally evaluate the optimality via simulations with simple feedback control.