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Dynamic Modelling and Simulation of a Deployable Quadrotor

This paper for the first time presents a deployable quadrotor based on a deployable hexahedral mechanism. Structure design of the proposed deployable quadrotor is introduced and mobility and kinematics of the associated deployable hexahedral mechanism are briefly addressed. Then kinematics and dynamics of the proposed deployable quadrotor are established and the results are verified through numerical simulations, leading to the demonstration of performance and manoeuvrability of the proposed quadrotor. This paper hence also provides insight into the integration of deployable mechanisms into the development of quadrotors for wider applications.