TY - GEN
T1 - Mechatronic Design of an Amphibious Drone
AU - Evangeliou, Nikolaos
AU - Chaikalis, Dimitris
AU - Giakoumidis, Nikolaos
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper is concerned with the mechatronic design of a tricopter drone which can move as a ground vehicle and/or as a vessel. The tricopter has three pairs of coaxial rotors and is capable of providing 100N of thrust with a 15 minute flight time using an 8S LiPo 12.5Ah battery. Three waterproof motors are attached to an isosceles triangular omniwheel configuration for operating as a ground vehicle after landing. The customized wheels allow the vehicle to move with a linear velocity up to 2 m/sec at a tilt slope up to 20°. Two submersible parallel water thrusters provide 24N collective force leading to a maximum vessel velocity of 1 m/s and a turn radius of 1.5 m. The design alternatives are highlighted and prioritized according to their weight while the overall amphibious drone is shown in several flight/omniwheel vehicle/vessel modes.
AB - This paper is concerned with the mechatronic design of a tricopter drone which can move as a ground vehicle and/or as a vessel. The tricopter has three pairs of coaxial rotors and is capable of providing 100N of thrust with a 15 minute flight time using an 8S LiPo 12.5Ah battery. Three waterproof motors are attached to an isosceles triangular omniwheel configuration for operating as a ground vehicle after landing. The customized wheels allow the vehicle to move with a linear velocity up to 2 m/sec at a tilt slope up to 20°. Two submersible parallel water thrusters provide 24N collective force leading to a maximum vessel velocity of 1 m/s and a turn radius of 1.5 m. The design alternatives are highlighted and prioritized according to their weight while the overall amphibious drone is shown in several flight/omniwheel vehicle/vessel modes.
KW - Amphibious drone
KW - Hybrid drone
KW - Unmanned Aerial Vehicle
KW - Unmanned Surface Vessel
KW - Waterproof drone
UR - http://www.scopus.com/inward/record.url?scp=85161294643&partnerID=8YFLogxK
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U2 - 10.1109/ICARA56516.2023.10125643
DO - 10.1109/ICARA56516.2023.10125643
M3 - Conference contribution
AN - SCOPUS:85161294643
T3 - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
SP - 230
EP - 233
BT - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Automation, Robotics and Applications, ICARA 2023
Y2 - 10 February 2023 through 12 February 2023
ER -