Dual-axis tilting quadrotor design v4

grabcad

The redesigned vehicle had motor modules rotated for closer servo positions nearer the center of mass, reducing overall rotational inertia. By condensing mass towards the center, torque controller effort needed to adjust the vehicle's attitude was decreased. However, a variable center of mass remained due to insufficient counter ballast weight. Weight saving measures included replacing steel fasteners (2g each) with nylon screws (approx .1g each), cutting threads into 3D printed brackets, and re-engineering those brackets to reduce mass and constraints. The aircraft's net weight (excluding batteries, a power tether was used) was approximately 1.6 kgs. In the final design iteration, more powerful cobra motors were employed, and minor layout changes were made.