Design Process of MMTDA
Drone Mechanism & Model Design
To simplify the mechanism, we will only focus on one arm of the quadcopter in the following explanation.
This arm consists of three bars: one fixed bar and two moving bars. Additionally, there are three gears: two gears attached to each of the moving bars and one main gear which drives the force that changes the configuration of all four arms simultaneously. Each of the sub-gears is subject to the main gear, which is responsible for driving their motion.
The motor plate, which connects to the three bars, holds the propeller motor. The input to the system comes from the main motor, which is controlled by a servo motor. However, for the sake of simplicity in this project, it was manually operated with a crank. The output is the two other gears. The vectors of the two moving bars are determined by their lengths and the initial configuration of the gears they are connected to. As a result, the motor configuration (i.e., the direction of the propeller) is governed by the end position of the two moving bars.
The Solidworks CAD model of the quadcopter is shown below.
Figure 1. Aerial Configuration
Figure 2. Terrestrial Configuration
Figure 3. Aquatic Configuration
Drone Component Selection
- Arduino Microcontroller
- Brushless Motors
- Lipo Battery Pack
- Battery Charger
- 40 AMP Electronic Speed Control (ESC)
Transmitter/Receiver*Replaced with potentiometer and joystick- Power Distribution Board
- IMU Sensor
- Propellers
To build our transforming drone with the ability to operate in the air, on land, and underwater, we carefully selected a range of components to ensure reliability, performance, and cost-effectiveness. The most critical components for our drone include brushless motors, 40 Amp ESCs, a potentiometer, joystick, Lipo battery pack, battery charger, power distribution board, propellers, and an Arduino microcontroller.
We chose brushless motors for the propellers due to their durability, high efficiency, and low maintenance needs. To control the speed of our motors, we selected 40 Amp ESCs, which are efficient and able to handle the high current demands of our motors.
To control the drone's movement, we included an IMU sensor to send the orientation of the drone to the Arduino microcontroller to compensate speed in each of the motors for stabilization - prevent the drone from flipping. Additionally, we selected a Lipo battery pack to power the drone, which is lightweight and can provide a high power-to-weight ratio. A battery charger was also included to charge the battery and ensure optimal performance.
To distribute power to the ESCs and motors, we selected a power distribution board that enables us to connect all of the components in a neat and organized manner. We also included an Arduino microcontroller, which allows us to program and automate various functions of the drone, such as stabilization, navigation, and control. Finally, we chose propellers that are specifically designed for our motors to ensure optimal performance and stability.
Overall, our selection of components was driven by a balance of performance, reliability, and cost-effectiveness, ensuring that our transforming drone can operate seamlessly in a range of environments, while also offering programmable and customizable functionality through the inclusion of the Arduino microcontroller.
More information about our materials are detailed in the Bill of Materials in the Appendix section.
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