Development of load carrying and releasing system of hexacopter

Zakaria, Abdul Hafiz and Mohd Mustafah, Yasir and Mohd. Hatta, Muhd. Mudzakkir and N. Azlan, Muhd Nadzif (2015) Development of load carrying and releasing system of hexacopter. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah.

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Abstract

An unmanned aerial vehicle (UAV) which is integrated with the gripper system is be able to provide diverse service to the society. The objective of this project is to develop a load carrying and releasing system for hexacopter platform. The proposed method is to use the hexacopter with high payload capable of flying while carrying some extra load. A gripper system with the ability to hold and release the preloaded object is designed to enable the hexacopter to transport objects. The load carrying and releasing system releases the object after receiving an instruction from the user. During the flight, mission planner is used to monitor the flight status. The hexacopter performance was evaluated through a series of flight tests. The result from the experiments show that the total flight time of the hexacopter reduced by 5 minutes from the normal time of 15 minutes when the load carrying mechanism is attached. This is because attaching the mechanism increases the total payload by 800grams from the normal payload of 2.2kg. Payload increment means higher current drawn from the battery to produce higher motor speed. Attaching the mechanism also affects the stabilization of the UAV. Hence, retuning of the PID controller was performed in order to correct the flight attitude of the UAV. This project successfully demonstrated the development of load carrying and releasing system which might serve as guidelines for other related future projects.

Item Type:	Conference or Workshop Item (Invited Papers)
Additional Information:	5107/49426
Uncontrolled Keywords:	autonomous aerial vehicles;grippers;helicopters;three-term control;PID controller;UAV;flight status monitoring;gripper system;hexacopter;load carrying system;load releasing system;mission planner;unmanned aerial vehicle;Grippers;Payloads;Robots;Rotors;Servomotors;Testing;Tuning;Flight Time;Hexacopter;Load Carrying and Releasing system;PID;Speed
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr Yasir Mohd Mustafah
Date Deposited:	17 Feb 2016 15:45
Last Modified:	24 May 2016 12:06
URI:	http://irep.iium.edu.my/id/eprint/49426

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