Design and Empirical study of tilting propellers of an over-actuated quadrotor

An over-actuated quadrotor that can track arbitrary position and orientation trajectories in space has several benefits for interactive service robotics. For construction of an over-actuated quadrotor a robust, lightweight tilting system for the propulsion motors needs to be designed. This report details the design, construction and measurements of a tilting rotor design, also investigating empirically whether secondary aerodynamic forces are of negligible impact when compared to a non-tilting design. Different system components of the measurements setup are analysed for the use of this design. Lastly, modelling parameters were extracted for later implementation in a computer model and construction of a control system.